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智能車輛橫向混合切換控制器設(shè)計(jì)
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國(guó)家自然科學(xué)基金重點(diǎn)資助項(xiàng)目（10932003、50901011）和國(guó)家重點(diǎn)基礎(chǔ)研究發(fā)展計(jì)劃（973計(jì)劃）資助項(xiàng)目（2010CB832700）


Mixed Lateral Controller Design for Intelligent Vehicle Based on Switching
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    摘要:

    考慮到智能車輛在不同工況下表現(xiàn)出不同的系統(tǒng)特性,設(shè)計(jì)了由線性二次型最優(yōu)控制律和利用模糊邏輯推理得到的模糊控制律組成的混合切換控制器。當(dāng)偏差和偏差變化率較小時(shí)(小角度轉(zhuǎn)彎),假設(shè)系統(tǒng)特性固定不變,切換到最優(yōu)控制律；而在偏差和偏差變化率較大時(shí)(大角度轉(zhuǎn)彎),車輛具有強(qiáng)非線性、時(shí)變、耦合和參數(shù)不確定性等特性, 切換到模糊控制律。 采用ADAMS和Matlab/Simulink聯(lián)合控制仿真的方法對(duì)該智能車輛的橫向控制算法進(jìn)行仿真,并通過試驗(yàn)驗(yàn)證。仿真和試驗(yàn)結(jié)果表明：該橫向控制器可保證智能車輛在路徑跟蹤過程中的準(zhǔn)確性和平穩(wěn)性。

    Abstract:

    Considering the different dynamic performances of intelligent vehicle under various conditions, mixed switching lateral controller was designed that consists of optimal control law obtained through the linear quadratic form optimal track control theory and fuzzy control law obtained by fuzzy logic analysis. When the error and error rate was small, the steering controller was switched to optimal control law .When the error and error rate was greater than or equal to the threshold, the fuzzy control law was selected. Simulative researched on the lateral control algorithm of intelligent vehicle using ADAMS and Matlab/Simulink co-simulation control, and tested by experimental. Simulation and experimental results showed that the unmanned vehicle controlled by the proposed algorithm could track the reference paths under various conditions accurately and riding quality.

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郭景華,胡平,李琳輝,王榮本,郭烈.智能車輛橫向混合切換控制器設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(2):1-5. Guo Jinghua, Hu Ping, Li Linhui, Wang Rongben, Guo Lie. Mixed Lateral Controller Design for Intelligent Vehicle Based on Switching[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(2):1-5.

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  • 在線發(fā)布日期: 2012-02-17
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