Control Strategy for the Steering System of Self Propelled Split Transporter Based on Backstepping Method
Two different control strategies based on Back-stepping method are presented for Self Propelled Split Transporter, and an appropriate control law is designed in this paper.Using MATLAB/SIMULINK respectively simulated for the two control law in different initial of position and posture when in straight and steering working conditions.We compare the control inaccuracy error, and determine that the trajectory of tracking control law is suitable for the coordinate steering control system which base on the source tracing for the power source vehicle.We apply the control law to experiment, and the results show that the control strategy is able to control the loading vehicle in accordance with the power source vehicles walking trajectory, and trajectory inaccuracy error is small, with good adaptability.
self propelled split transporter coordinate steering control system trajectory of tracking simulink
Wang Xinyu Zhao Jingyi
Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yan Shan University, Q Hebei Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yan Shan University, Q
国际会议
西安
英文
191-197
2015-09-18（万方平台首次上网日期，不代表论文的发表时间）