The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. ...The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator(LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization(PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.展开更多
A bionic shoulder joint with three degree-of-freedom(DOF)driven by pneumatic muscle actuator is proposed and its corresponding kinematic model is established.The bionic shoulder is optimized by particle swam optimizat...A bionic shoulder joint with three degree-of-freedom(DOF)driven by pneumatic muscle actuator is proposed and its corresponding kinematic model is established.The bionic shoulder is optimized by particle swam optimization(PSO)with the fitness standards that the requirements of rotation indexes are met and the fluctuation of motion is kept in the lowest resolution in a pneumatic muscle actuator range.Simulation considering rotation indexes only(first simulation)is compared with the one considering both rotation indexes and motion resolution(second simulation)subsequently.Mounting position of the pneumatic muscle actuators in bionic shoulder is optimized after initializing the same condition in simulations.Results show that the fluctuations of parameters are consistent,and the parameters of the first simulation have good convergence than those of the second one.With the increase of stretch rate of the pneumatic muscle actuator,the needed length of fixed link in the center of static platform decreases in optimization.展开更多
文摘The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator(LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization(PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.
基金supported by the National Natural Science Foundation of China(No.51405229)the Natural Science Foundation of Jiangsu Province of China (No. BK20151470)the NUAA Fundamental Research Fund(No.NS2013049)
文摘A bionic shoulder joint with three degree-of-freedom(DOF)driven by pneumatic muscle actuator is proposed and its corresponding kinematic model is established.The bionic shoulder is optimized by particle swam optimization(PSO)with the fitness standards that the requirements of rotation indexes are met and the fluctuation of motion is kept in the lowest resolution in a pneumatic muscle actuator range.Simulation considering rotation indexes only(first simulation)is compared with the one considering both rotation indexes and motion resolution(second simulation)subsequently.Mounting position of the pneumatic muscle actuators in bionic shoulder is optimized after initializing the same condition in simulations.Results show that the fluctuations of parameters are consistent,and the parameters of the first simulation have good convergence than those of the second one.With the increase of stretch rate of the pneumatic muscle actuator,the needed length of fixed link in the center of static platform decreases in optimization.
