Speed Control of Remotely Operated Multi-Wheel Motor-Driven Vehicles for Unpaved Roads and Obstacles
Speed Control of Remotely Operated Multi-Wheel Motor-Driven Vehicles for Unpaved Roads and Obstacles
复制标题
未铺砌道路和障碍物的遥控多轮电动车辆的速度控制
DOI：
10.1007/s12239-022-0106-y
复制
发表时间：
2022
影响因子：
1.6
通讯作者：
Hyeongcheol Lee
中科院分区：
文献类型：
--
作者：
Kyuhong Han;Hyeongcheol Lee
本文介绍了一种远程操作的多轮电机驱动的电动车，不仅可以有效地利用铺设的道路，而且在未铺设的道路或障碍物的速度控制。提出的速度控制算法由一个上层控制模块和两个下层控制模块组成。上层模块生成加速指令和加权因子，使牵引力和制动力平滑相交。两个较低级别的模块分别生成电机扭矩和液压制动命令。该速度控制器跟踪每个轴的速度指令，以减少车轮在未铺砌道路上的打滑。此外，它还利用车身的俯仰角在斜坡或障碍物上实现机动性。干扰观测器也被应用到较低级别的控制模块对建模误差和频繁变化的道路条件的鲁棒性。最后，提出的速度控制算法应用于仿真模型和六轮电动机驱动的原型车用于军事目的。其有效性通过各种情景得到验证，包括未铺设的道路和障碍物。
This paper describes the speed control of a remotely operated multi-wheel motor-driven electric vehicle that can be effectively utilized not only on paved roads but also on unpaved roads or obstacles. The proposed speed control algorithm consists of an upper-level control module and two lower-level control modules. The upper-level module generates acceleration commands and the weighting factor, allowing the tractive and braking forces to intersect smoothly. Two lower-level modules generate motor torque and hydraulic brake commands, respectively. This speed controller tracks the speed commands of each axle to reduce wheel slip on unpaved roads. In addition, it uses the pitch angle of the vehicle body for mobility on slopes or obstacles. The disturbance observer is also applied to the lower-level control modules for robustness against modeling errors and frequently changing road conditions. Finally, the proposed speed control algorithm is applied to a simulation model and a six-wheel motor-driven prototype vehicle used for military purposes. Its effectiveness is verified through various scenarios, including unpaved roads and obstacles.