摘要
针对车辆运动轨迹跟踪的横向控制,基于恒定横摆角速度的假设搭建预瞄驾驶员模型,根据驾驶员模型和车辆二自由度模型搭建输入量为横摆角速度偏差,输出为前轮转角的滑模控制器,以进行轨迹的横向跟踪控制。在此基础上,基于PID对滑模控制器的输入横摆角速度偏差进行补偿控制以消除单点预瞄模型的建模误差所带来的影响。通过仿真分析对比PID-SMC与单独使用PID和滑模控制器的控制效果,结果表明,通过PID补偿的滑模控制器能显著提高跟踪精度,消除转向过程中的稳态误差。
For the lateral control of vehicle trajectory tracking,apreview driver model is built based on the assumption of constant yaw rate.The input of the sliding mode controller is the yaw rate deviation and the output is the front wheel anglel.ateraltracking control of the trajectory is performed by the controller.And then,the input yaw rate deviation of the sliding mode controller is compensated by PID controller to eliminate the influence of the modeling error of the singlepoint preview model.The control effects of PID-SMC and PID and Sliding mode controllers are compared by simulation analysis individually.The results show that the sliding mode controller with PID compensation can significantly improve the tracking accuracy and eliminate the steady-state error in the steering process.
作者
韩爱国
李志新
HAN Ai-guo;LI Zhi-xin(Hubei Key Laboratory of Modern Automobile Parts Technology,Wuhan University of Technology,Wuhan 430070,China;Hubei Collaborative Innovation Center of Auto Parts Technology,Wuhan University of Technology,Wuhan 430070,China;Hubei Research Center for New Energy Intelligent Connected Vehicle,Wuhan University of Technology,Wuhan 430070,China)
出处
《武汉理工大学学报》
CAS
2022年第3期40-45,共6页
Journal of Wuhan University of Technology
基金
国家重点研发计划重点专项(2017YFB0103900)
国家自然科学基金面上项目(51575411)。
关键词
横向控制
单点预瞄模型
滑模控制
PID补偿
lateral control
single-point preview model
sliding mode control
PID compensation
