Research On Hydraulic System Group Cooperative Control Of Multi Vehicle Formation Operation

In large-scale engineering transportation,multi vehicle formation cooperative operation can better complete the work that can not be completed by one single vehicle,which has the advantages of high efficiency and low cost.Multiple vehicles can form a formation with convenient combination and various modes.Through the information transmission and control system,the transportation can be completed,which can greatly save the construction time and improve the safety and stability of transportation.The multi-vehicle formation combined transportation has a wide application prospect in large cargo transportation.Based on the study of multi-agent formation control theory and combined transportation with large engineering transport vehicles,the research on hydraulic system group cooperative control accuracy of multi vehicle formation operation is proposed.According to the requirement of the actual engineering transportation,multi-vehicle formation can have a variety of combination forms,and the multi-vehicle formation will form a huge hydraulic system group.The key to the cooperative transportation of multivehicle formation is the control of formation maintenance.The traditional control method can not achieve stable formation control,on the basis of realizing stable control and environmental perception of one single vehicle,the stable formation control can be realized by the high-accuracy control of multi vehicle hydraulic system group.In this paper,the hydraulic system group coordinated control of multi-vehicle formation combined operation is deeply studied.The cooperative control strategy of multivehicle formation hydraulic control system group is proposed.This paper aims to improve the collaborative control accuracy of multi vehicle formation operation hydraulic system group.The main research work is as follows:(1)The multi-vehicle formation theory is studied,and the formation consistency motion model and steering motion model are established.Through the research on the multi-vehicle formation control method,sensing information and communication,the CAN bus control system of leader-follower strategy is designed.For the path tracking control of the formation leader vehicle,the visual positioning mode and a pure path tracking control strategy are proposed,and the control simulation and real vehicle test are carried out.(2)The combined operation of four-vehicle formation is selected as the research object.Aiming at the driving hydraulic system group control of formation synchronous,the leader-follower PID controller is designed,and the stability is determined.The synchronous control simulation is carried out.(3)The control of formation suspension hydraulic system group is studied,by analyzing the supporting mode of four-vehicle formation transportation,the safe bearing area of multi-vehicle formation is obtained,the leveling control strategy is proposed.The synchronous double closed-loop PID controller is designed,and the simulation and analysis are carried out.(4)The coordinated control of steering hydraulic system group is studied.Through the analysis of the steering mechanism and steering hydraulic system,the mathematical model of steering hydraulic system is established.According to Ackerman geometric steering principle,the mathematical models of wheel group angle under each steering mode of formation are deduced,and the coordinated steering controller is designed.And the control of the multi-vehicle formation steering hydraulic system group is simulated.(5)The above control strategy is tested in the four vehicle formation transportation of large precast beam.The control tests of suspension synchronous lifting,synchronous driving and coordinated steering are carried out respectively.The results show that the control strategy has high precision and fast response,which can ensure the safety and reliability of multi vehicle formation cooperative transportation.Finally,the four-vehicle formation is used in engineering transportation.It is verified that the leader-follower control strategy can fully realize the safe and reliable multi vehicle formation joint transportation.The research results can provide theoretical basis and design method reference for the high-precision cooperative control of various transport vehicle formation operations.