摘要
针对分布式电驱车路径跟踪问题,基于分层协调控制方法,提出了一种路径跟踪策略。由电驱车独立转向/驱动的结构优势,设计四轮阿克曼转向理论,以建立电驱车路径跟踪分层运动学模型,并应用到路径跟踪控制策略中。该策略分为上下两层控制。在上层控制中,将上层运动学模型作为模型预测控制算法的预测模型,通过设定最优目标函数和约束条件将未来控制增量的求解问题转换为二次规划的最优解问题,计算出最优转角和速度控制量。下层控制中,通过下层运动学,将上层控制得到的控制量映射到四轮的转角和速度控制量,应用模糊PID算法,实现电驱车的路径跟踪控制。在基于Carsim/Simulink的仿真平台上进行圆形路径跟踪仿真验证,结果表明,该控制器能够使分布式电驱车实现路径的准确跟踪;在实车试验中进行换道路径跟踪,简单MPC(模型预测控制算法)与分层协调控制数据结果对比表明分层协调控制方法能够有效的改善控制性能,提供路径跟踪的精确性和稳定性。
Because the path of a distributed electric vehicle is difficult to track,a path tracking strategy was proposed based on the layered coordinated control method.Based on the structural advantage of the electric vehicle′s independent steering/driving,the four-wheel Ackerman steering theory is designed to establish the layered kinematics model of the electric vehicle′s path following and to apply it to the path following control strategy.The strategy is divided into two layers of control.In the upper layer control,the upper-layer kinematics model is used as the prediction model of the model predictive control algorithm.By setting the optimal objective function and constraint conditions,the solution of the future control increment problem is transformed into the optimal quadratic programming solution problem.The optimal rotation angle and velocity control quantity are calculated.In the lower layer control,through the lower layer kinematics,the control quantity obtained with the upper layer control is mapped to the angle and speed control quantity of the four wheels of the electric vehicle.The fuzzy PID algorithm is used to realize the path tracking control of the electric vehicle.The circular path tracking is simulated with the CarSim/Simulink simulation platform.The simulation results show that the controller can accurately track the path of the distributed electric vehicles.The comparison between the simple MPC data and the layered coordinated control data shows that the layered coordinated control method can effectively improve the control performance,accuracy and stability of the path tracking.
作者
周枫林
钦宇
游雨龙
邹腾安
李光
张智永
常雨康
ZHOU Fenglin;QIN Yu;YOU Yulong;ZOU Tengan;LI Guang;ZHANG Zhiyong;CHANG Yukang(School of Mechanical Engineering,Hunan University of Technology,Zhuzhou 412007,Hu′nan,China;School of Intelligent Science,National University of Defense Technology,Changsha 410001,China;Hunan Yuzheng Intelligent Technology Co.,Ltd.,Changsha 410073,China)
出处
《机械科学与技术》
CSCD
北大核心
2023年第7期1140-1149,共10页
Mechanical Science and Technology for Aerospace Engineering
基金
湖南省自然科学基金项目(2021JJ30211,2021JJ50043)。
关键词
分布式电驱车
分层协调控制方法
分层运动学
路径跟踪
distributed electric vehicle
hierarchical coordinated control method
hierarchical kinematics
path tracking
