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Model predictive control system based on direct yaw moment control for 4WID self-steering agriculture vehicle

International Journal of Agricultural and Biological Engineering 2021年第2期14卷 175-181页

作者： Hui Liu Shicheng Yan Yue Shen Chiheng Li Yafei Zhang Fida Hussain School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013JiangsuChina

A model predictive control(MPC)approach based on direct yaw moment control(DYC)was proposed to realize the self-steering drive for a newly autonomous four-wheel independent-drive(4WID)agricultural electric *** front axle and rear axle of the vehicle chassis could rotate simultaneously around their respective center points and cut the turning radius in half at most through specific mechanical chassis structure design and four-wheel electrical *** had great potential to reduce wheel traffic damage to field crops if two rear electrical drive wheels can be controlled to follow wheel tracks of two front wheels during self-steering ***,firstly,a two-degree-freedom dynamics model presenting this agricultural electric vehicle was ***,an MPC controller combined with DYC was applied to arrange torques from four wheels to match desired turning angles,direct yaw moments and travel *** simulation results existed small steady error of steering angles below 0.22%as they were set at 5°,followed with yaw moment under 0.17%and velocity less than 1%.Finally,according to experiment results,the vehicle successfully made a working turning radius of 9.1 m with maximum error of 0.55%when desired steering angles were 5°at the speed of 1 m/s and a minimum turning radius of 1.51 m with maximum error of 6.6%when steering angles were 30°at the speed of 0.5 m/*** verified that the 4WID agricultural electric vehicle could drive autonomously and steady with small self-steering angle error under the proposed control system and has a feasibility to reduce wheel traffic damage during driving and operation.

关键词： agriculture mechanization 4WID electric vehicle self-steering model predictive control

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