提出迭代算法，符号推导任意n拖车系统的运动学模型。
An Iterative Algorithm to Symbolically Derive Generalized n-Trailer Vehicle Kinematics
- 基于约束结构设计迭代算法，符号化推导n拖车运动学
- 证明最大可控制数并导出广义阿克曼转向律
- 用实测数据验证模型，分析后向偏航率放大现象
多轴铰接车辆因其独特的运动学偏移特性、不稳定性模式和奇异性，在控制理论中具有研究价值。本文研究影响其运动学行为的完整与非完整约束，据此开发一种迭代算法，用于符号推导具有任意数量多轴车辆单元的广义n拖车系统在偏航平面内的运动学模型。提供了大规模广义铰接车辆系统最大可控制数的形式化证明，进而推导出n拖车系统的广义阿克曼转向律。此外，利用测试车辆采集的运动学数据对模型进行验证，并分析了牵引多个模拟拖车时的后向偏航率放大行为。
原文摘要 · Abstract (English)
Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the kinematic behavior is investigated in order to develop control-oriented kinematic models representative of these peculiarities. Then, the structure of these constraints is exploited to develop an iterative algorithm to symbolically derive yaw-plane kinematic models of generalized $n$-trailer articulated vehicles with an arbitrary number of multi-axle vehicle units. A formal proof is provided for the maximum number of kinematic controls admissible to a large-scale generalized articulated vehicle system, which leads to a generalized Ackermann steering law for $n$-trailer systems. Moreover, kinematic data collected from a test vehicle is used to validate the kinematic models and, to understand the rearward yaw rate amplification behavior of the vehicle pulling multiple simulated trailers.
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