Investigation of PID Control Model Performance in Off-Road Working Vehicle Motion Stability Control System
Keywords:ADAMS, co-simulation, MATLAB, motion stability control, orchard vehicle
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.
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