Research On Integrated Control Of Unmanned Driving Robot System Under Steering Condition

Unmanned driving robot(UDR)refers to a special robot that can be installed in the cockpit without modification of the chassis of the existing control platform and can replace the driver to operate vehicle in dangerous and harsh environments.Based on the research on the structure characteristics of the UDR,this paper studies the integrated control mechanism of the UDR system under the steering condition.Firstly,the structure and working principle of each control mechanism of the UDR are analyzed.The steering manipulator model and driving mechanical leg model including dynamics and kinematics are established respectively.The whole vehicle dynamics model,steering system model and driving and braking system model of the controlled vehicle are established,and the integrated control model of the UDR system is built on this basis.Then,the estimation model of the side slip angle is built and Cubature Kalman Filter(CKF)is used to estimate the side slip angle.Based on the dynamics model of the whole vehicle being manipulated,the CKF was used to estimate the tire force.On this basis,the tire model method and the slipslope method were used to construct the estimation model according to the slip rate value,and the road adhesion coefficient was estimated by using the Multi-innovation algorithm.Also,the lateral control model of UDR system is analyzed,and the lateral control method of UDR system based on robust H∞ is proposed.This paper analyzes the longitudinal control model of UDR system,proposes the vertical control method of the unmanned robot system based on model predictive control(MPC),and designs the switching logic of the acceleration and braking mechanical legs.The vertical and horizontal control methods of the UDR system are simulated and verified by experiments.Finally,the horizontal control constraints and the sideslick constraints of the UDR system are analyzed to obtain feasible region of the UDR system.Also,dynamic steering compensation method based on multi-innovation was proposed.Under simulation and test,the test results show that the coordination problems between vertical and horizontal subsystem,and steering performance degradation problems in integration process was solved,the effectiveness of the proposed method was verified.