Modeling and Dynamics Analysis for Intelligent Skid-Steering Vehicle Based on Trucksim-Simulink

Authors: Yansong Zhang, Xueyuan Li, Junjie Zhou, Xufeng Yin, Shihua Yuan, Shuxian Liu

Abstract:

Aiming at the verification of control algorithms for skid-steering vehicles, a vehicle simulation model of 6×6 electric skid-steering unmanned vehicle was established based on Trucksim and Simulink. The original transmission and steering mechanism of Trucksim are removed, and the electric skid-steering model and a closed-loop controller for the vehicle speed and yaw rate are built in Simulink. The simulation results are compared with the ones got by theoretical formulas. The results show that the predicted tire mechanics and vehicle kinematics of Trucksim-Simulink simulation model are closed to the theoretical results. Therefore, it can be used as an effective approach to study the dynamic performance and control algorithm of skid-steering vehicle. In this paper, a method of motion control based on feed forward control is also designed. The simulation results show that the feed forward control strategy can make the vehicle follow the target yaw rate more quickly and accurately, which makes the vehicle have more maneuverability.

Keywords: Skid-steering, Trucksim-Simulink, feedforward control, dynamics.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1317056

References:

[1] Li X, Zhang Y, Hu J, et al. A steering dynamics analysis for skid-steering wheeled vehicle based on single-axle model (J). Automotive Engineering, 2012.
[2] Li X Y, Zhang Y, Hu J B, et al. Skid-steering resistance characteristics of wheeled vehicle (J). Acta Armamentarii, 2011, 32(12):1433-1438.
[3] Caldwell T M, Murphey T D. Switching mode generation and optimal estimation with application to skid-steering ☆ (J). Automatica, 2011, 47(1):50-64.
[4] Xiong L, Chen C, Feng Y. Modeling of distributed drive electric vehicle based on co-simulation of Carsim/Simulinsfk (J). Journal of System Simulation, 2014, 26(5):1143-151.
[5] Ma G, Li G, Han H. Simulation Model Research for Four-wheel Hub Motor Electric Vehicle Based on Simulink and CarSim(J). Agricultural Equipment & Vehicle Engineering, 2015.
[6] Jing-Liang L I, Xia T Z, Zhi-Cheng L U, et al. Research on Adaptive Cruise Control Technology Based on CarSim(J). Auto Mobile Science & Technology, 2013.
[7] Chao Y, Yin G D, Cai G S, et al. Yaw-moment proportional distribution control strategy for four-wheel independently-actuated electric vehicle(C)// Control Conference. IEEE, 2014:215-220.
[8] Grace R, Guzman A, Staszewski J, et al. The Carnegie Mellon TruckSim: a tool to improve driving safety(C)// Digital Avionics Systems Conference, 1998. Proceedings. Dasc. the Aiaa/ieee/sae. IEEE, 1998:I35/1-I35/8 vol.2.
[9] Jamaluddin H. Modeling and validation of 7-DOF ride model for heavy vehicle(C)// 2012.
[10] Shangguan W B, Chen Y, Wang Q, et al. Simulation of a partly filled tank vehicle combination in TruckSim and tank design optimization (J). International Journal of Heavy Vehicle Systems, 2016, 23(3):264.
[11] Kim C, Ashfaq A M, Kim S, et al. Motion Control of a 6WD/6WS wheeled platform with in-wheel motors to improve its maneuverability (J). International Journal of Control Automation & Systems, 2015, 13(2):434-442.