Research On Driving Stability Control Of Six-wheel Distributed Drive Unmanned Platform Based On Model

The ground unmanned platform is a kind of military equipment that can be remotely controlled or controlled independently,and is widely used in the national defense equipment of various countries.The distributed drive unmanned platform using in-wheel motors has become a new direction for the development of unmanned platforms due to its good maneuverability and terrain adaptability.This paper takes the six-wheel distributed drive unmanned platform as the research object,and mainly studies the driving stability of the unmanned platform in the harsh road environment.details as follows:(1)Analyze the dynamics model of the unmanned platform,study the motion state and force of the unmanned platform during the driving process,analyze the reasons for the instability of the unmanned platform when driving in a straight line,and comprehensively select the stability control variables of the unmanned platform.(2)Aiming at the deviation and skidding of the unmanned platform during the driving process,a layered control strategy for the driving stability of the unmanned platform is proposed.The upper-level controller is responsible for deciding the driving torque of the unmanned platform,mainly including the vehicle speed following controller,the additional yaw moment controller,and the driving anti-skid controller.The vehicle speed following controller obtains the longitudinal generalized moment required to achieve the desired vehicle speed through the PI control algorithm;the additional yaw moment controller takes the yaw angular velocity as the control target,and determines the additional yaw moment through the sliding mode control algorithm;A single wheel is used for decision-making control,and the PI control algorithm is used to control the wheel slip rate within the optimal slip rate range to ensure the straight-line driving stability of the unmanned platform.(3)Aiming at the longitudinal generalized torque,additional yaw moment and driving anti-skid torque output by the upper layer control,a lower layer controller with coordinated torque distribution is proposed to realize the coordinated control of the six-wheel distributed drive unmanned platform.(4)Through Truck Sim and Simulink dynamics simulation software,a co-simulation model of the unmanned platform is established,and different simulation conditions are constructed to verify the effectiveness of the driving stability control algorithm.The simulation results show that the use of driving stability control can effectively reduce the driving process of the unmanned platform.The yaw rate and lateral displacement of the unmanned platform keep the wheel slip rate within the optimal slip rate range to ensure the driving stability of the unmanned platform.(5)Taking a six-wheel distributed drive unmanned platform as the research object,a test prototype is built.By carrying out experiments under actual working conditions and collecting data for analysis,the results verify the effectiveness of the driving stability control algorithm.