摘要
探讨磁导航车体运动数字控制系统的数学模型。用实验方法建立磁导航车体运动数字控制系统典型环节的时间连续数学模型,结合车体运动机械操纵环节的传统数学模型建立整个控制系统的时间连续数学模型。利用Z变换方法把控制系统时间连续数学模型转换成离散数学模型,引入数字控制系统典型环节的数学模型,建立磁导航车体运动数字控制系统的离散数学模型。设计数字控制系统的二次型最优控制器并进行计算机仿真。仿真分析结果验证了数学模型的有效性。
Tne mathematic models of the digital vehicle control system based on magnetic guidance were studied. The time continuous mathematic models of typical control elements in the vehicle control system were developed by experiment, combining the time continuous mathematic models of traditional mechanical elements with that of typical electronic elements. In addition, the discrete mathematic models of the digital vehicle control system were obtained by introducing the discrete mathematic models of the typical dements in the digital control system and deducing the time continuous mathematic models in accordance with Z transformation method, Moreover a quadratic optimum controller was designed based on the discrete mathematic model, and the computer simulation was conducted. The simulation result shows that the mathematic models of the digital vehicle control system are efficient.
出处
《公路交通科技》
CAS
CSCD
北大核心
2005年第8期122-126,共5页
Journal of Highway and Transportation Research and Development
基金
国家十五科技攻关资助项目(2002BA404A26)
关键词
智能公路系统
磁导航车辆自动驾驶
数字控制系统数学模型
Intelligent highway system
Vehicle automated driving based on magnetic guidance
Mathematic model of digital control system
