This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
The Impact of Control Structure on the Path-Following Control of Unmanned Compaction Rollers
Technical Paper
2020-01-5030
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
The unmanned roller (UR) can improve the compaction quality and efficiency simultaneously, but suffers from the challenges in path-following control. This is a direct result of 1) the increased degree of freedom in motion from the articulated structure of UR, and 2) the uncertainties from the road condition and position measurement. In this paper, the impact of control structure on the path-following control performance of UR is investigated through a comparative study. The parallel controller, for the lateral error and orientation angle error respectively, as commonly used in passenger vehicles, is used as the baseline. A cascaded disturbance rejection controller is proposed for comparison, where the high-level controller seeks to minimize the lateral error by adjusting the desired orientation angle, to be achieved by the low-level controller through the manipulation of the steering wheel. The superiority of cascade controller over the parallel controller was evaluated in experiments. Results show that the proposed cascade controller is more robust to GPS (Global Positioning System) antenna installation error. When operating on road with large rocks, the cascade controller also shows improved disturbance rejection capability in terms of 87.5% reduction in recovery time. These benefits are achieved due to the local orientation angle feedback controller, relative to the parallel controller. One adverse effect of cascade control is the 26.8% higher electrical energy consumption of the steering system.
Recommended Content
Technical Paper | The Shock Absorber of Energy Recovery Using Electrorheological Fluid |
Technical Paper | Magneto-Rheological Fluid Semiactive Suspension System Performance Testing on a Stryker Vehicle |
Technical Paper | An Automatic Shock-Absorber |
Authors
Citation
Quanzhi, X., Hui, X., and Kang, S., "The Impact of Control Structure on the Path-Following Control of Unmanned Compaction Rollers," SAE Technical Paper 2020-01-5030, 2020, https://doi.org/10.4271/2020-01-5030.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 | ||
Unnamed Dataset 2 | ||
Unnamed Dataset 3 | ||
Unnamed Dataset 4 |
Also In
References
- Gutierrez , J. , Apostolopoulos , D. , and Gordillo , J.L. Numerical Comparison of Steering Geometries for Robotic Vehicles by Modeling Positioning Error Autonomous Robots 23 2 147 159 2007
- Altafini , C. Why to Use an Articulated Vehicle in Underground Mining Operations Proceedings 1999 IEEE International Conference on Robotics and Automation 1999 4 3020 3025
- Nayl , T. , Nikolakopoulos , G. , and Gustfsson , T. Switching Model Predictive Control for an Articulated Vehicle under Varying Slip Angle 2012 20th Mediterranean Conference on Control & Automation (MED), IEEE 2012 890 895
- Pacejka , H. Tire and Vehicle Dynamics Elsevier 2005
- Petrov , P. and Bigras , P. A Practical Approach to Feedback Path Control for an Articulated Mining Vehicle Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium 2001 4 2258 2263
- Zhao , X. , Yang , J. , Zhang , W. et al. Feedback Linearization Control for Path Tracking of Articulated Dump Truck Telkomnika 13 3 922 2015
- Bigras , P. , Petrov , P. , and Wong , T. A LMI Approach to Feedback Path Control for an Articulated Mining Vehicle Electronics Research 2002
- Sasiadek , J.Z. and Lu , Y. Path Tracking of an Autonomous LHD Articulated Vehicle IFAC Proceedings Volumes 38 1 55 60 2005
- Uzunsoy , E. and Erkilic , V. Development of a Trajectory Following Vehicle Control Model Advances in Mechanical Engineering 8 5 2016
- Shiroma , N. and Ishikawa , S. Nonlinear Straight Path Tracking Control for an Articulated Steering Type Vehicle 2009 ICCAS-SICE, IEEE 2009 2206 2211
- Rains , G.C. , Faircloth , A.G. , Thai , C. et al. Evaluation of a Simple Pure Pursuit Path-Following Algorithm for an Autonomous, Articulated-Steer Vehicle Applied Engineering in Agriculture 30 3 367 374 2014
- Park , M.W. , Lee , S.W. , and Han , W.Y. Development of Lateral Control System for Autonomous Vehicle Based on Adaptive Pure Pursuit Algorithm 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014), IEEE 2014 1443 1447
- Yongming , B. , Meng , Y. , Xiaojun , F. et al. Kinematics and Path Following Control of an Articulated Drum Roller Chinese Journal of Mechanical Engineering 30 4 888 899 2017
- Fang , X. , Bian , Y. , Yang , M. et al. Development of a Path Following Control Model for an Unmanned Vibratory Roller in Vibration Compaction Advances in Mechanical Engineering 10 5 2018
- Zhang , Q. , Liu , T. , Zhang , Z. et al. Unmanned Rolling Compaction System for Rockfill Materials Automation in Construction 100 103 117 2019
- Han , J. From PID to Active Disturbance Rejection Control IEEE Transactions on Industrial Electronics 56 3 2009 https://doi.org/10.1109/TIE.2008.2011621
- Gao , Z. Scaling and Bandwidth-Parameterization Based Controller Tuning Proceedings of the American Control Conference 2006 6 4989 4996