Investigation of PID Control Model Performance in Off-Road Working Vehicle Motion Stability Control System

Authors

  • Miao Xu China Agricultural University
  • Xin Wang China Agricultural University
  • Weiwei Li China Agricultural University
  • Han Fu China Agricultural University
  • Shumao Wang China Agricultural University

DOI:

https://doi.org/10.5755/j01.eie.23.2.17256

Keywords:

ADAMS, co-simulation, MATLAB, motion stability control, orchard vehicle

Abstract

This paper focuses on tip-over problem of orchard vehicle, establishes vehicle dynamic model with 7 degrees of freedom (DOF), and proposes a vehicle motion stability control method based on real-time adjustment of vehicle posture parameters, relies on ADAMS and MATLAB to set up co-simulation control model, and conducts vehicle scale model motion stability control simulation and test. Analysis of simulation result shows that vehicle motion stability control model mentioned above can effectively prevent orchard vehicle tip-over accidents. To verify simulation result, vehicle state parameter collection system is established to acquire information on vehicle velocity and posture in real time. It is found in the same environment, including road conditions and parameter adjustment, vehicle scale model test and co-simulation result have a basically consistent variation tendency. When vehicle encounters tip-over accident, angles such as pitching angle vary rapidly. In anti-tip-over control process, pitching and rolling angle have greater influence on vehicle motion stability. If Kp and Kd are adjusted properly, good vehicle motion stability control effect is acquired.

DOI: http://dx.doi.org/10.5755/j01.eie.23.2.17256

Author Biographies

Miao Xu, China Agricultural University

Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment,College of Engineering

Xin Wang, China Agricultural University

Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment,College of Engineering

Weiwei Li, China Agricultural University

Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment,College of Engineering

Han Fu, China Agricultural University

Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment,College of Engineering

Shumao Wang, China Agricultural University

Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment,College of Engineering

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Published

2017-05-15

How to Cite

Xu, M., Wang, X., Li, W., Fu, H., & Wang, S. (2017). Investigation of PID Control Model Performance in Off-Road Working Vehicle Motion Stability Control System. Elektronika Ir Elektrotechnika, 23(2), 3-9. https://doi.org/10.5755/j01.eie.23.2.17256

Issue

Vol. 23 No. 2 (2017)

Section

AUTOMATION, ROBOTICS

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