Multi-layer skid controller design of distributed electric drive mobile platform based on the optimal slip rate to improve its driving stability
文献类型： 外文期刊
作者： Chen, Feng;Ding, Junjie;Chen, Long;Zheng, Enlai;Luo, Zhitao;Lu, Yingtao;Shi, Yinyan;Wang, Xiaochan;Hu, Lianglong;Zhao, Shanhu
作者机构：
关键词： Protected horticulture;EDMP;System model;Tire-road friction;Skid control
期刊名称： JOURNAL OF TERRAMECHANICS
ISSN： 0022-4898
年卷期： 2025 年 121 卷
页码：
收录情况： SCIE（2025版） ; ; EI（2025版）
摘要： To improve the driving stability and safety of electric drive mobile platforms (EDMP) for protected horticulture, it is essential to minimize the excessive slip of driving wheels. Therefore, a tire-soil model is established and a dynamic model of EDMP with implement considering the influence of wheel slip on longitudinal motion is developed. Subsequently, a linear parameter-varying model incorporating longitudinal speed and wheel force is established. A state estimator utilizing an improved adaptive strong tracking unscented Kalman filter (ASTUKF) algorithm is proposed to obtain real-time friction coefficients of four wheels and determine the optimal slip rate. Based on this, a robust model predictive controller (RMPC) with the employment of linear matrix inequality is designed to suppress EDMP slip. Finally, to validate the effectiveness of the proposed controller, a real test system for the EDMP is developed. It's demonstrated that the slip rate of the EDMP can be significantly reduced through the implementation of the proposed skid control strategy. The average estimation errors of the ASTUKF are reduced by 95.5% and 81.6% compared to the KF and UKF, respectively. Under both straight and continuous steering conditions, the wheel slip rate errors are reduced by 48.33% and 55.63%, respectively.
分类号：
- 相关文献
作者其他论文 更多>>
-
A Spectral Device for Rice Chlorophyll Content Detection with Background Classification Capability
作者：Chen, Yanyu;Wang, Xiaochan;Xing, Xiaoyang;Xu, Sheng;Zhang, Xiaolei;Chen, Shengfeng;Yin, Yue;Wang, Dezhi;Xi, Rui;Xu, Xin
关键词：rice;chlorophyll content;spectral detection;background classification;detection device
-
Multiresponsive Zein Nanospheres for Avermectin B2 Delivery: Enhancing Root-Knot Nematode Control and Safety to Nontarget Organisms
作者：Ding, Xiquan;Du, Qian;Gao, Fei;Chen, Long;Wang, Tingyu;Chen, Fangyuan;Zeng, Zhanghua;Wang, Yan;Cui, Haixin;Cui, Bo
关键词：root-knot nematode;multiresponsive nanosphere;zein;efficacy;biosafety
-
Reconciliation of wheat 660K and 90K SNP arrays and their utilization in dough rheological properties of bread wheat
作者：Sun, Congwei;Jing, Zhenhai;Chen, Xiaoqian;Chen, Jiahui;Shang, Qiaoqiao;Jin, Hui;Jia, Jizeng;Ren, Yan;Zhao, Lei;Gao, Lifeng;He, Zhonghu;Chen, Feng
关键词：Bread wheat;Wheat SNP array;GWAS;Dough rheological properties;Stability time
-
Effect of radio frequency energy combined with natamycin on Aspergillus niger survival and quality of dried shiitake mushroom with different moisture content
作者：Zhang, Lihui;Zhu, Jialing;Wang, Shaojin;Chen, Long;Song, Zihan;Zhang, Lei;Ma, Haile
关键词：Radio frequency;Pasteurization;Shiitake mushroom;Natamycin;Quality
-
Detection method of broken grains and impurities in harvested soybeans using feature wavelength selection and MobileNetV4-Unet-SGCPNet hybrid network
作者：Jin, Chengqian;Cheng, Gong;Chang, Zhichang;Chen, Man;Yang, Tengxiang;Shi, Yinyan;Gai, Xiaobin
关键词：Soybeans;Breakage;Foreign matter content;Spectral detection;Classification and identification
-
Research and analysis of conveyor separation mechanism of light and simple sweet potato combine harvester based on EDEM discrete element method
作者：Peng, Jiwen;Shen, Haiyang;Ding, Wenqin;Chen, Wenming;Peng, Baoliang;Li, Xueqiang;Hu, Lianglong;Wang, Gongpu
关键词：EDEM discrete element method;Conveying and separating mechanism;Simulation analysis;Parameter optimization;Field test
-
Insights into major pigment accumulation and (non)enzymatic degradations and conjugations to characterized flavors during intelligent black tea processing
作者：Zhang, Yongcheng;Kangni Yan;Peng, Qunhua;Feng, Shan;Zhao, Zhangfeng;Chen, Long;Ye, Lin;Fu, Jianyu;Lv, Haipeng;Mu, Dan;Dong, Chunwang;Lin, Zhi;Wu, Yan;Shi, Jiang
关键词：Intelligently processed black tea;Pigments;Carotenoids;Maillard products;Flavor