关键词: 半挂车辆；轨迹跟踪；转向系统；齿隙模型；参数辨识；补偿控制；TruckSim-Simulink

Abstract: In order to ensure the effectiveness of trajectory tracking control for autonomous semi-trailer vehicles, a control method considering steering system backlash compensation is proposed. A trajectory tracking model based on a three degree of freedom vehicle dynamics model is established, and an linear quadratic regulator (LQR) based trajectory tracking controller is designed on this basis. A steering system backlash model considering the differences between the left and right sides is established, and a backlash model parameter identification method based on recursive least square method is designed. A steering backlash inverse model is established using the identified parameters to compensate for the output of the trajectory tracking controller. The parameter identification method of the backlash model is validated using real vehicle data and simulation data, and the backlash compensation control is validated based on the TruckSim-Simulink joint simulation platform. The results show that the designed identification method can quickly identify the steering transmission ratio and backlash on both sides of the steering system model, and the accuracy and stability of trajectory tracking control considering backlash compensation are significantly improved.

Key words: Semi-trailer vehicles; Trajectory tracking; Steering system; Backlash model; Parameter identification; Compensation control; TruckSim-Simulink