摘要
首先建立了车辆预瞄运动学方程,并通过系统辨识实验得到了转向系统动态方程,然后获得了完整的基于预瞄运动学模型的转向控制模型。采用滑模变结构控制方法设计了车辆的导航控制器。针对在设计和实验中遇到的一些问题(前轮转角对控制器输出的影响、实验中系统存在静偏差的原因、预瞄点处的侧向偏差与车辆实际侧向偏差之间的关系等)通过仿真进行了系统的分析,并提出在软件中消除净偏差的解决方法。最后现场实验验证了导航控制方法满足车辆导航的要求。
A preview kinematic equation of vehicle was established at first, and a dynamic equation for vehicle steering system was obtained through system identification experiments. Then, a more integrated steering control model was established based on the preview kinematic equation. A steering controller was designed by means of the sliding variable structure control theory. A simulation was performed to analyze systematically the problems met in the system design and experiments such as the effect of the front-wheel steering angle on the controller output, the static deflection found in experiments, and the relation between the preview lateral deflection and vehicle actual lateral deflection,etc., and a method to eliminate the deflection in the control software was suggested. The steering control system was verified by field test and its favorable track capability has been demonstrated.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2004年第4期582-586,共5页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金资助项目(50175064).
关键词
自动控制技术
变结构控制
智能车辆
系统辨识
automatic control technology
variable structure control
intelligent vehicle
system identification
