Horizontal and Vertical Coordinated Control of Three-Axis Heavy Vehicles
In order to coordinate the transverse motion control and longitudinal motion control in the tracking control process and ensure the yaw stability and roll stability in the tracking process, a transverse and longitudinal coordinated control method of three-axis heavy vehicles is designed based on mod...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-02-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/13/2/123 |
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| author | Lanchun Zhang Fei Huang Hao Cui Yaqi Wang Lin Yang |
| author_facet | Lanchun Zhang Fei Huang Hao Cui Yaqi Wang Lin Yang |
| author_sort | Lanchun Zhang |
| collection | DOAJ |
| description | In order to coordinate the transverse motion control and longitudinal motion control in the tracking control process and ensure the yaw stability and roll stability in the tracking process, a transverse and longitudinal coordinated control method of three-axis heavy vehicles is designed based on model predictive control. The lateral motion controller is designed based on the phase plane method. The upper controller calculates the front wheel angle and additional yaw moment, which ensures the yaw stability while tracking the vehicle. The lower controller calculates the driving force and braking force of the three-axis heavy vehicle. The velocity planning method is designed with the coupling point of longitudinal velocity to coordinate the lateral and longitudinal motion controllers and prevent vehicle rollover. By building the vehicle model in Trucksim (2016.1) and establishing the horizontal and vertical coordination control in Matlab (R2016b), the designed horizontal and vertical coordination control method is simulated and verified. The simulation results show that the designed method can accurately track the reference trajectory while ensuring the yaw stability and roll stability of the three-axis heavy vehicle. |
| format | Article |
| id | doaj-art-69b96dcf7ef94798a8544d4cd0fbeedd |
| institution | DOAJ |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-69b96dcf7ef94798a8544d4cd0fbeedd2025-08-20T02:44:42ZengMDPI AGMachines2075-17022025-02-0113212310.3390/machines13020123Horizontal and Vertical Coordinated Control of Three-Axis Heavy VehiclesLanchun Zhang0Fei Huang1Hao Cui2Yaqi Wang3Lin Yang4School of Automotive & Traffic Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaSchool of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaSchool of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaSchool of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaSchool of Automotive & Traffic Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaIn order to coordinate the transverse motion control and longitudinal motion control in the tracking control process and ensure the yaw stability and roll stability in the tracking process, a transverse and longitudinal coordinated control method of three-axis heavy vehicles is designed based on model predictive control. The lateral motion controller is designed based on the phase plane method. The upper controller calculates the front wheel angle and additional yaw moment, which ensures the yaw stability while tracking the vehicle. The lower controller calculates the driving force and braking force of the three-axis heavy vehicle. The velocity planning method is designed with the coupling point of longitudinal velocity to coordinate the lateral and longitudinal motion controllers and prevent vehicle rollover. By building the vehicle model in Trucksim (2016.1) and establishing the horizontal and vertical coordination control in Matlab (R2016b), the designed horizontal and vertical coordination control method is simulated and verified. The simulation results show that the designed method can accurately track the reference trajectory while ensuring the yaw stability and roll stability of the three-axis heavy vehicle.https://www.mdpi.com/2075-1702/13/2/123three-axis dump trucktracking controlhorizontal and vertical coordinated control strategyreal-time speed profile planningmodel predictive control |
| spellingShingle | Lanchun Zhang Fei Huang Hao Cui Yaqi Wang Lin Yang Horizontal and Vertical Coordinated Control of Three-Axis Heavy Vehicles Machines three-axis dump truck tracking control horizontal and vertical coordinated control strategy real-time speed profile planning model predictive control |
| title | Horizontal and Vertical Coordinated Control of Three-Axis Heavy Vehicles |
| title_full | Horizontal and Vertical Coordinated Control of Three-Axis Heavy Vehicles |
| title_fullStr | Horizontal and Vertical Coordinated Control of Three-Axis Heavy Vehicles |
| title_full_unstemmed | Horizontal and Vertical Coordinated Control of Three-Axis Heavy Vehicles |
| title_short | Horizontal and Vertical Coordinated Control of Three-Axis Heavy Vehicles |
| title_sort | horizontal and vertical coordinated control of three axis heavy vehicles |
| topic | three-axis dump truck tracking control horizontal and vertical coordinated control strategy real-time speed profile planning model predictive control |
| url | https://www.mdpi.com/2075-1702/13/2/123 |
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