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 the design is based on the differential Power steering controller. According to the deviation of yaw rate and yaw rate of center of mass, the related control characteristic quantity is determined, and the result is the control target to improve the steering performance of the locomotive. The actual locomotive test results showed that the proposed controller design method reduces the brake deceleration of the port locomotive in the process of emergency braking, which achieves the best slip ratio effect, shortens the braking distance, improves the braking efficiency of the locomotives and improves the port traffic safety.