Network-Based Coordinated Motion Control of Large-Scale Transportation Vehicles

A series of large-scale transportation vehicles have been developed to transfer huge and heavy objects. Such a multiaxle vehicle has a complex steering system that consists of a large number of independently controlled steer axles. To achieve smooth and accurate steering motion without slipping and...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2007-04, Vol.12 (2), p.208-215
Main Authors: Li, Yunhua, Yang, Liman, Yang, Guilin
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Axles
Control systems
Coordinated motion control
Dynamical systems
Dynamics
electrohydraulic control
Large-scale systems
Motion control
multimode steering
networked control system (NCS)
Networked control systems
Real time
Real time systems
Steering
Steering systems
Transportation
transportation vehicle
Vehicle dynamics
Vehicles
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Summary:A series of large-scale transportation vehicles have been developed to transfer huge and heavy objects. Such a multiaxle vehicle has a complex steering system that consists of a large number of independently controlled steer axles. To achieve smooth and accurate steering motion without slipping and sliding, real-time and coordinated control of the steer axles is essential. Based on the networked control system (NCS), a multimode steering control scheme is proposed. Through kinematical and dynamic analysis of the steering system and utilizing the inherent real-time data-sharing features of the NCS, a cross-coupled control algorithm is developed to improve the steering accuracy. The effectiveness of the network-based steering control method is verified through simulation and experimental results
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2007.892830