Control Method of Differential Power Steering for Port Locomotive Obstacle Avoidance under Emergency

ABSTRACT Tian, J.; Liu, C. and Chen, N., 2018. Control method of differential power steering for port locomotive obstacle avoidance under emergency. In: Liu, Z.L. and Mi, C. (eds.), Advances in Sustainable Port and Ocean Engineering. Journal of Coastal Research, Special Issue No. 83, pp. 531–539. Coconut Creek (Florida), ISSN 0749-0208. At present, there is not much space in the port area and the differential power steering control method is often used in locomotive obstacle avoidance under emergency. The method does not take into account the effect of tire slip and actuator torque limitation on locomotive drive braking during the avoidance under emergency, which only relies on the differential control, that is limited in improving steering stability. Based on the establishment of the dynamic model of the controlled object as well as the nonlinear tire model, the constraints of the locomotive driven by the ground characteristics of the port area, the tire slip and the actuator torque are considered, and t...