Angle Control of Independent Drive Differential Steering Wheelset

Jiaqi Zhang; Cunsheng Zhang; Gaofei Qu

doi:10.54097/1zka4s45

Authors

Jiaqi Zhang
Cunsheng Zhang
Gaofei Qu

DOI:

https://doi.org/10.54097/1zka4s45

Keywords:

Cascade control; Wheelset angle control; Proportional integral derivative; Fuzzy.

Abstract

This study investigates the relative angle control between a single wheelset and the chassis, taking into account the independent rotation of each wheelset in the four-wheel steering chassis with four differential wheelsets. To ensure coordinated and stable chassis motion while adjusting the wheelset angle, it is necessary to account for the impact of wheelset speed on the overall dynamics of the chassis. This research aims to introduce an uncomplicated yet potent control technique to ad-dress the identified problem. Initially, the dynamic equation governing wheel motion was formulated. Subsequently, ahierarchical control system integrating fuzzy PID and fuzzy-fuzzy PID elements was developed to modulate the wheelset angle, thereby ensuring its stable regulation along with the velocity. Simulations were conducted on a compact chassis model using the integrated MATLAB/Simulink and ADAMS simulation environment. These tests confirmed that the hierarchical control system adeptly controlled both the angular positioning and the linear velocity of the wheelset, meeting the locomotive requirements of the chassis.

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