Automatic Guidance Control of an Articulated-All Wheel Steered Vehicle

초록

This paper presents the automatic guidance control of an all wheel steered, single articulated vehicle which is currently being developed by the Korea Railroad Research Institute (KRRI). The vehicle has independent drives on each wheel except for the front axle. The guidance controller is designed so that the vehicle follows the given reference path within permissible lateral deviations.. We have used a three input-three output linearised model which is derived from the nonlinear vehicle dynamic model. For the purpose of making the controller be simple and tunable, a decentralized low-order control configuration is considered and has been designed by using the characteristic ratio assign (CRA) method. It is shown by simulations applied to the nonlinear dynamic model that the resulting linear controller achieves the design objectives successfully.