铰接车辆通过前后车体间的相对转动实现转向行驶，这种特殊的转向形式导致其转向稳定性差，转向运动控制精度要求高。针对此问题，以某四轮分布式驱动井下支架搬运铰接车为原型，构建包括车身模型、轮胎模型和单阀控双非对称缸液压转向系统在内的分布式铰接车辆11自由度非线性动力学模型，并设计基于自抗扰控制器的液压转向控制系统，用以提升铰接车辆的转向稳定性。为验证此方法的有效性，建立MATLAB/Simulink仿真模型，进行初始车速为2.5 m/s的转向分析，并在同种工况下，加入外界干扰力矩，以PID控制器为对照组，对比分析两种液压转向系统控制器的抗扰动性能。仿真结果表明：基于ADRC控制的液压转向系统的转向角度误差在0.017 rad以内，且转向角度跟踪速度快，相对于PID控制器具有更好的抗扰动性能，有效提高了铰接车辆的转向稳定性。
Articulated vehicles steer through the relative rotation between front and rear bodies.This special steering form leads to poor steering stability and high precision of steering motion control.Aiming at this problem,taking a four-wheel distributed driven underground support handling articulated vehicle as prototype,the distributed articulated vehicles 11 DOF nonlinear dynamic model including the body model,tire model and single valve control unsymmetrical hydraulic cylinder steering system was built,and the hydraulic steering control system was designed based on ADRC for improving the steering stability of articulated vehicles.In order to verify the effectiveness of this method,a MATLAB/Simulink simulation model was established to analyze the steering at the initial speed of 2.5 m/s.In the same working condition,external disturbance torque was added and PID controller was used as the control group to compare and analyze the anti-disturbance performance of two hydraulic steering system controllers.The simulation results show that the steering angle error of the hydraulic steering system based on ADRC control is less than 0.017 rad,and the steering angle tracking speed is fast;compared with the PID controller,the ADRC control system has better anti-disturbance performance and the steering stability of the articulated vehicle is improved effectively.
CAO Guodong, WANG Tie, JI Zhiyong, MA Haona, LIU Zhaoji. Distributed Steering Control of Articulated Vehicle Based on Active Disturbance Rejection Control[J]. Machine Tool & Hydraulics,2023,51(20):171-178