A newly designed gantry virtual track train (G-VTT) with all-wheel steering control was proposed, which can realize the trajectory of each axle following the front axle of the head car. The analysis method of the matching between vehicle architecture and path-tracking control algorithm and the concept of path-tracking independence were proposed based on decoupling control theory to verify the rationality of G-VTT architecture. The advantage of path-tracking independence is that there is no motion or force interference between each axle, which means the control of each axle can be performed independently and the existing single degree of freedom driver model can be utilized. A path-tracking control strategy based on angular transmission ratio (ATR) was proposed and compared with another two methods–the pure pursuit and Stanley algorithm. The result shows that: the G-VTT architecture has the characteristics of path-tracking independence and the decoupling control of lateral motion of each axle can be realized; compared with the pure pursuit and Stanley algorithm, the ATR algorithm with steering delay (SDATR) and the optimized SDATR algorithm can achieve considerable accuracy with less parameter requirements.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Gantry Virtual Track Train: Analysis of Vehicle Architecture and Path-Tracking Control Strategy


    Additional title:

    Lect.Notes Mechanical Engineering


    Contributors:
    Orlova, Anna (editor) / Cole, David (editor) / Leng, Han (author) / Ren, Lihui (author) / Ji, Yuanjin (author)

    Conference:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2021 August 17, 2021 - August 19, 2021



    Publication date :

    2022-08-06


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Path Following Control Strategy for Gantry Virtual Track Train

    Leng, Han / Ren, Lihui / Ji, Yuanjin | IEEE | 2022




    Gantry crane track cross joint

    ZHENG XIAOXUN | European Patent Office | 2015

    Free access

    Study on virtual path track control for intelligent vehicle

    Mengyin Fu, / Jiuhong Ruan, / Hui Ding, | IEEE | 2004