双车协同运输系统轨迹跟踪约束跟随控制

doi:10.19562/j.chinasae.qcgc.2025.04.007

Abstract

Abstract:

The dual-vehicle cooperative transportation system consists of a cargo module and two transport vehicles， which are connected by articulated joints. The system's strong dynamics coupling and nonlinearity present significant challenges for accurate modeling and precise control. In this paper a trajectory tracking control scheme for the cooperative transportation system based on constraint-following theory is proposed. In terms of system modeling， based on the kinematics and rigid body dynamics analysis， external trajectory tracking servo constraints and internal articulated passive constraints are constructed for the cooperative transportation system. The Lagrange modeling method is then employed to establish a nonlinear constrained dynamic model of the dual-vehicle cooperative transportation system. In terms of controller design， the Udwadia-Kalaba （U-K） method is first used to obtain the norm-minimal force required for the cargo to satisfy the trajectory tracking servo constraints， that is， the combined force acting on the cargo at the articulation point. Next， based on the minimum lateral forces principle of front and rear vehicles， an optimal allocation strategy for this combined force is designed， distributing it to the front and rear transport vehicles. The reaction forces of the distributed force components are modeled as the known external disturbances acting on the front and rear vehicles. Then， based on the feedforward compensation for the known external disturbances and the constraint-following control theory， the control forces required for the front and rear transport vehicles to satisfy the trajectory tracking servo constraints are designed. Finally， the simulation results show that the proposed cooperative control scheme achieves good trajectory tracking performance and significantly suppresses the lateral dynamic impact of the cargo on the transport vehicles， effectively enhancing the overall lateral stability of the cooperative transportation system.

Key words: dual-vehicle cooperative transportation, trajectory tracking, Lagrange modeling, constraint-following control

Yusheng Dai,Yuan Chang,Zeyu Yang,Bowei Zhang,Manjiang Hu,Jin Huang. Trajectory Tracking Constraint-Following Control for Dual-Vehicle Cooperative Transportation Systems[J].Automotive Engineering, 2025, 47(4): 658-668.

Figures/Tables 16

参数	数值
货物和运输车辆的质量 $m i (i = 0,1, 2) / k g$	2 000/1 413/1 413
货物和运输车辆的转动惯量 $I z i (i = 0,1, 2) / (k g ? m 2)$	16 833/1 535.7/1 535.7
货物前铰接点到质心的距离和运输车辆前轴到质心的距离 $l f i$ 以及后铰接点到质心的距离和后轴到质心的距离 $l r i (i = 0,1, 2) / m$	5/1.015/1.015； 5/1.895/1.895
运输车辆的前后轮侧偏刚度 $C f i, C r i (i = 1,2) / (N · r a d - 1)$	52 370/52 370； 39 920/39 920
运输车辆质心到各自铰接点的距离 $l o i (i = 1,2) / m$	0.5/0.5

参数	货物 $(i = 0)$	运输车辆1 $(i = 1)$	运输车辆2 $(i = 2)$
$X i (t 0) / m$	1.5	4	-1
$Y i (t 0) / m$	0.5	4.83	4.83
$φ i (t 0) / r a d$	$π / 3$	$π / 3$	$π / 3$
$X ˙ i (t 0) / (m · s - 1)$	2.5	2.5	2.5
$Y ˙ i (t 0) / (m · s - 1)$	4.33	4.33	4.33
$φ ˙ i (t 0) / (r a d · s - 1)$	0	0	0

参数	货物 $(i = 0)$	运输车辆1 $(i = 1)$	运输车辆2 $(i = 2)$
$X i (t 0) / m$	-2	3	-7
$Y i (t 0) / m$	-1	-1	-1
$φ i (t 0) / r a d$	0	0	0
$X ˙ i (t 0) / (m · s - 1)$	20	20	20
$Y ˙ i (t 0) / (m · s - 1)$	0	0	0
$φ ˙ i (t 0) / (r a d · s - 1)$	0	0	0

References 20

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Trajectory Tracking Constraint-Following Control for Dual-Vehicle Cooperative Transportation Systems

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