SYNTHESIS OF THE LAWS GOVERNING THE NON-HOLONOMIC MODEL OF A TWO-LINK ROAD TRAIN WITH REVERSE MOTION (OFF-AXLE HITCHING MODEL)
Journal Title: EUREKA: Physics and Engineering - Year 2018, Vol 0, Issue 2
Abstract
The complexity of the control of the road train is due to the pronounced nonlinearities, as well as the instability of the control object during the movement in the backward motion (jackknifing). For the road trains, the location of the towing device behind the tractor's rear axle is quite typical. In this study, a synthesis of control laws for road trains with offset of coupling devices relative to the rear axle of the tractor (off-axle hitching) is proposed. The controllers have been implemented both to ensure a stable circular motion and for rectilinear motion with a given orientation angle, and the behavioral features of this model have been studied on the basis of them. Based on the analysis of the approaches to the synthesis of the laws governing the road train with the coupling out, it was decided to synthesize the required control laws using the Lyapunov function method. Synthesized controllers can be directly used to program the robotic systems of the respective models. It is also possible to use them for the development of the Dubins machine for the investigated model. They can be used to build automatic control systems that would help the driver to drive a car with a trailer while driving backward. In this research, a study was made of the state of the solution of the problem associated with the reverse movement of a road train consisting of a tractor and a semitrailer with a coupling, synthesized laws made it possible to study the features of such model, determined by its linear dimensions. For comparison of the synthesized laws, the analysis of phase portraits of trajectories, angles of folding and control, orientation angles was carried out, and also the analysis of the quality of transient processes with the change in the speed of the road train was performed.
Authors and Affiliations
Dmitry Tatievskyi
Keywords
Related Articles
- EP ID EP669014
- DOI 10.21303/2461-4262.2018.00592
- Views 301
- Downloads 0
NEW APPROACH IN MODIFYING QUENCHING PROCESSES BASED ON POSSIBILITY OF CONTROLLING STEEL’S SURFACE TEMPERATURE BY INSULATING LAYER
In the paper is shown a possibility to govern surface temperature of steel parts during quenching by controlling the thickness of the insulating layer. That results in developing the new quenching technologies like auste...
CHOICE OF THE OPTIMAL CONTROL STRATEGY FOR THE DUPLEX-PROCESS OF INDUCTION MELTING OF CONSTRUCTIONAL IRON
To find effective control of the duplex process of induction melting in conditions of uncertainties, a method was suggested that made it possible to obtain optimal controls for both stages: melting and thermal treatment....
RESEARCH OF MICROBIOLOGICAL INDICATORS OF QUALITY OF SURFACE WATERS OF NATURAL ENVIRONMENTAL TERRITORIES OF THE DANUBE BASIN
A comparative analysis of the sanitary and ecological state of surface watercourses in the upper part of the Danube basin (on theterritoryofUkraine) was carried out according to microbiological indicators. Similar hygien...
METHOD OF OBTAINING APPROXIMATE FORMULAS
The two-parameter method of approximating the sum of a power series in terms of its first three terms of the expansion, which allows one to obtain analytic approximations of various functions, decomposes into a Maclaurin...
METHOD OF DETERMINING WEIGHTS OF TEMPORAL RULES IN MARKOV LOGIC NETWORK FOR BUILDING KNOWLEDGE BASE IN INFORMATION CONTROL SYSTEMS
The problem of constructing and expanding the temporal knowledge base for the information-control system is considered. This knowledge base is formally represented by the Markov logic network. It is shown that the behavi...