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Coordination of Actuators for an A-double Heavy Vehicle Combination

Karin Uhlén ; Per Nyman ; Johan Eklöv ; Leo Laine (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system) ; Maliheh Sadeghi Kati (Institutionen för signaler och system, Mekatronik) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik)
17th International IEEE Conference on Intelligent Transportation Systems. (2014)
[Konferensbidrag, refereegranskat]

This paper shows how actuator coordination, based on control allocation, can be used in the motion control system for long articulated heavy vehicles. Usage of a control allocation structure is one way to handle an over-actuated system, which is a system where there are more motion actuators than controlled motions. The A-double combination is in focus for the control allocation design, which is based on vehicle modelling using the Lagrange formulation. The control structure is tested in a simulation environment and evaluated by two test scenarios. For the selected configuration with 31 actuators, the control allocation method coordinates the desired motion for both large and small steer and articulation angles. The proposed control structure is shown to be convenient when the vehicle configuration, for example the number of actuators in the combination, is changed.

Nyckelord: long heavy vehicles, control allocation, motion control system, over-actuated system, low and high speed manoeuvres

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Denna post skapades 2014-09-12.
CPL Pubid: 202669