摘要
研究以二自由度车辆动力学模型为基础,采用线性自抗扰算法设计横向控制器,通过使用车辆仿真软件PreScan与Simulink进行联合仿真,表明线性自抗扰算法控制效果好,使车道保持系统能够更快响应驾驶人需求,有较强的鲁棒性,对提升车辆的安全行驶具有重要的研究意义。
Based on the two-degree of freedom vehicle dynamics model,this paper uses the linear active disturbance rejection algorithm to design the lateral controller,and uses the vehicle simulation software PreScan and Simulink of Siemens to conduct the joint simulation.The results show that the linear active disturbance rejection algorithm has good control effect,which enables the lane keeping system to respond to the driver's needs faster and has strong robustness,which has important research significance for improving the safe driving of vehicles.
出处
《道路交通科学技术》
2023年第3期27-31,共5页
Road Traffic Science & Technology
关键词
线性自抗扰控制器
安全行驶
鲁棒性
linear active disturbance rejection controller
safe driving
robustness
