Improving the quality of transient response during automatic control of the turn of a tracked vehicle based on the implementation of structured input shapers

摘要

The article presents the rationale for improving the quality of transients during steering control of a tracked vehicle in order to increase its high speed performance. Based on the comparative analysis of the results of simulation modeling and experimental research of the controlled movement dynamics, it is established that high speed performance is restricted by transient overshoot of a vehicle response to the control input, by transient oscillation and insufficient oscillation damping. The solution of the problem of high speed performance increase is carried out by implementing a modern IT approach – by creating an automated system for stabilizing the vehicle motion trajectory – which applies Input Shaper for adjusting the control input. The research has established that, considering the control object under research, the best results are obtained by Zero Vibration Shaper – (ZV-Shaper), which enables to minimize limiting overshoot, and the transient becomes close to an aperiodic one. The quality of the control process is defined by natural frequency stability of the system, to which the Input Shaper in question is tuned. In this regard, it is appropriate to introduce monitoring and identifying natural frequency into the control system. This creates conditions for increasing vehicle high speed performance, including on soils with bad traction properties.