| A Motion Decoupling Control Based on Differential Geometry for Distributed Drive Articulated Heavy Vehicle
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| Baohua Wang , Yuchen Sun , Jiacheng Zhang , Weilong Wang |
| College of Automotive Engineering , Hubei University of Automotive Technology |
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| ABSTRACT |
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A vehicle system motion decoupling control method was proposed to address challenges in controlling articulated heavy
vehicles (AHVs). The method, based on diff erential geometry theory, focused on distributed electric drive AHVs. Its objective
was to separate the highly nonlinear and strongly coupled dynamics system into two relatively independent subsystems:
longitudinal and lateral motions. Additionally, a robust controller was designed to improve the vehicle’s resistance to
external disturbances like side winds. Simulation tests using a TruckSim model of a distributed electric drive AHV show
signifi cant improvements compared to vehicles without decoupling control. The rearward amplifi cation (RA) is reduced
by 4.5%, the longitudinal velocity deviation by 67.5%, and the yaw rate deviation by 69.7%. The vehicle also demonstrates
enhanced stability when subjected to strong breeze disturbances. To validate the control performance in real-time systems,
the hardware-in-the-loop tests were conducted, which confi rms the eff ectiveness of the proposed control approach in practical
applications. |
| Key Words:
Distributed drive · Diff erential geometry · Decoupling control · Robust control
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Corresponding Author.
Baohua Wang , Email. 
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