Skid Steering Control Strategy of Distributed Drive Unmanned Platform

Abstract

This paper proposes a control strategy aiming at the lateral and longitudinal motion performance for the skid steering distributed drive unmanned platform. Firstly, through the mechanic's theory, a seven-degree-of-freedom model of the skid steering vehicle is established, including the body dynamics model, the wheel dynamics model, and the tire model. Secondly, a hierarchical control strategy is designed. The upper layer calculates the expected path as the expected value of wheel speed and yaw rate based on pre-targeting theory and vehicle kinematics reference model; the lower layer control structure is based on model predictive control, the control problem under the platform's lateral and longitudinal composite motion conditions is transformed into the tracking problem of the target wheel speed and the target yaw rate. The torque of the wheel is the output, which realizes the lateral and longitudinal synthetic control of the unmanned platform, and takes into account the optimal control of the wheel slip rate. A simulation model is built in Simulink software, and the corresponding simulation conditions are verified. The results show that the proposed lateral and longitudinal motion control strategy for skid steering unmanned platform is stable and accurate.