牵引拖车系统中未知纵向与横向滑动参数的辨识与控制

Identification and Control of Unknown Longitudinal and Transverse Sliding Parameters in the Tow Trailer System

摘要: 在物流运输以及农业作业之类的复杂场景当中，牵引拖车系统往往会在实际运行中遇到存在沙子、泥泞、冰雪等复杂路况，车轮极易发生打滑现象，从而产生纵向以及横向的滑移情况，这对其运动控制性能造成了极为严重的影响。本研究首先建立具有横向和纵向滑移的牵引拖车系统的运动学模型，其次通过运用滑模估计器，估计未知的纵向和横向滑动参数，最后设计出针对单个牵引拖车系统的轨迹跟踪控制器，以及针对多个牵引拖车系统的分布式自适应编队控制器。经仿真验证，这些策略在具有横向滑移和纵向滑移未知的情况下，能够切实有效地提升系统性能。往后应当对复杂场景应用展开探索，对算法予以优化，进而推动多牵引拖车系统在多个领域取得更为良好的发展。

Abstract: Logistics transportation and agricultural operations such as complex scenarios, tow trailer system often encountered in the actual operation of sand, mud, ice and conditions, snow, the wheel easy skid phenomenon, resulting in longitudinal and transverse slip, the motion control performance caused very serious influence. In this study, we first developed the kinematic model of the tow-trailer system with transverse and longitudinal sliding, then used the sliding mode estimator to estimate the unknown longitudinal and lateral sliding parameters and finally designed a track tracking controller for a single tow-trailer system and a distributed adaptive formation controller for multiple tow-trailer systems. By simulation verification, these strategies can effectively improve the system performance when the transverse slip and longitudinal slip are unknown. In the future, the application of complex scenarios should be explored, and the algorithm should be optimized to promote the better development of the multi-tow trailer system in multiple fields.