Feedback Linearization Decoupling and Predictive Driving Control for Dual Independent Electric Drive Tracked Vehicle

doi:10.3969/j.issn.1000-1093.2021.04.003

Abstract

Abstract: A decoupling and predictive control method is proposed for the control problem of driving dynamic coupling and tracking optimization of dual independent electric drive tracked vehicle. Based on the vehicle affine nonlinear model, the decoupling control of longitudinal speed and yaw rate is realized by feedback linearization to eliminate the coupling factors of the system dynamics. On this basis, the adaptive generalized predictive control (GPC) algorithms are designed for the longitudinal speed subsystem and yaw rate subsystem after decoupling, respectively. In the GPC algorithm, the recursive least squares method is used to identify the parameters of the controlled autoregressive integrated moving average model to correct the control law, and constrain the system control and output to achieve the tracking optimization of target speed and yaw rate based on the motor output capability. A series of experiments were conducted for an electric drive tracked vehicle prototype. The experimental results show that the designed algorithm can be used to track the target speed and yaw rate quickly and accurately, the output of the control variable is smooth, and the anti-interference performance is strong, which realizes stable driving of vehicle under various working conditions.

Key words: trackedvehicle, electricdrive, travelcontrol, decouplingcontrol, generalizedpredictivecontrol

CLC Number:

TJ810.3⁺44

ZHANG Jie, MA Xiaojun, LIU Chunguang, YUAN Dong, ZHANG Yunyin. Feedback Linearization Decoupling and Predictive Driving Control for Dual Independent Electric Drive Tracked Vehicle[J]. Acta Armamentarii, 2021, 42(4): 697-705.

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第42卷第4期2021 年4月
兵工学报ACTA ARMAMENTARII
Vol.42No.4Apr.2021

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[2]	WANG Boyang, GUAN Haijie, GONG Jianwei, CHEN Huiyan, ZHAO Huijing. Unified Motion Planning Method for Heterogeneous Tracked Vehicles [J]. Acta Armamentarii, 2022, 43(2): 241-251.
[3]	XU Baorong, WANG Tao, LIANG Zi. Generating Method and Process of Load Spectra for Tracked Vehicles Based on Prediction of Manipulating Action [J]. Acta Armamentarii, 2022, 43(2): 252-259.
[4]	LI Rui， XIANG Changle， WANG Chao， FAN Jingjing， LIU Chunlin. Robust Adaptive Trajectory Tracking Control Approach for Autonomous Tracked Vehicles [J]. Acta Armamentarii, 2021, 42(6): 1128-1137.
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[8]	MA Xiaojun， XU Haoxuan， LIU Chunguang. Coordinated Control Strategy of Generator Sets of Series Hybrid Electric Vehicles [J]. Acta Armamentarii, 2021, 42(10): 2075-2081.
[9]	GAI Jiangtao， LIU Chunsheng， MA Changjun， SHEN Hongji. Steering Control of Electric Drive Tracked Vehicle Considering Tracks' Skid and Slip [J]. Acta Armamentarii, 2021, 42(10): 2092-2101.
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