Trajectory Following and Anti-skidding Vehicle Control Systems Using Differential Wheel Torques

• Main Authors: Chen, Hsin-Min, 陳新民
• Other Authors: Chen, Tsung-Lin
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/01939458313684948996

碩士 === 國立交通大學 === 機械工程學系 === 99 === In this thesis, we present a differential wheel torques vehicle control system. The differential wheel torques would generate a yaw moment and adjust the vehicle longitudinal speed, and thus the vehicle can follow the pre-determined trajectory without skidding. Moreover, we studied the range of the vehicle sideslip angle in the non-skid situation and use this as a criterion for the anti-skidding controls. The anti-skidding controls enhance the controllability of the vehicle trajectory controls and thus improve the robustness of the proposed trajectory control systems. In order to simulate the vehicle dynamics under various driving conditions, a “full-car model” with 20 system states is constructed. However, a full-car model is too complicate for the controller design. Thus, a simplified vehicle model, which neglects pitch motions from the full-car model, is used for the controller design. The controller is developed from the “sliding mode control” techniques so that it has the robustness to cope with unmodelled dynamics. Simulation results indicate that the proposed control systems can actuate a vehicle to follow the pre-determined trajectory, and the lateral position error is within 1.21 m under various driving conditions. The vehicle sideslip angle can be minimized to 1.13 degree which was 5.20 degrees without controls.