Wheel Independent-Drive Control Based on Dynamic Tire LuGre Friction Model

被引：0

作者：

Ruan Jiuhong ^{[1
]}

Yang Fuguang ^{[1
]}

Qiu Xuyun ^{[1
]}

Li Yibin

机构：

[1] Shandong Jiaotong Univ, Adv Vehicle & Robot Inst, Jinan 250023, Peoples R China

来源：

PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 5 | 2008年

关键词：

Wheel independent-drive; Dynamic LuGre friction model; Longitudinal slip; Drive control; Active Disturbance Rejection Control;

D O I：

10.1109/CHICC.2008.4605668

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

As a key of high capability mobile platform, wheel independent-drive control is studied by using the dynamic tire LuGre friction model and Active Disturbance Rejection Control (ADRC) method. Firstly, the wheel independent-drive mathematic model was given and the dynamic tire LuGre friction model was briefly introduced. Then the control objective was analyzed, and the control system structure and the ADRC controller were designed. At last, the independent-drive control simulations under the expected constant and dynamic longitudinal slip were done. The results show that the ADRC controller, which designed based on dynamic tire LuGre friction model, can implement high precision and strong robust control effect.

引用

页码：441 / +

页数：2