基于相平面的滑模/模糊协调控制方法研究

Research on Sliding Mode/Fuzzy Coordinated Control Method Based on Phase Plane

针对结构化道路下车辆高速、紧急、突发障碍物等工况下所带来的无人车路径规划中的失稳问题,提出了一种模糊控制与滑模变结构控制协调控制的策略。首先,采用了基于五次多项式的路径规划方法。采用一种基于MPC模型预测控制的车辆轨迹跟踪控制策略,通过控制前轮转角主动转向来控制车辆换道。提出了一种滑模控制器与模糊控制器协调控制的控制策略,通过相平面法确定稳定边界方程,然后将边界方程介入控制器,并通过差动制动将横摆力矩合理分配到各车轮。通过Matlab与Carsim联合仿真,设计了不同的仿真工况。结果表明,车辆在高速、紧急的行驶工况下,这里所设计的协调控制方法,能够有效的提高车辆的轨迹跟踪性能与车辆路径规划中的稳定性和安全性。

Aiming at the instability of unmanned vehicle path planning under the conditions of high speed,emergency and sudden obstacles on structured roads,a coordinated control strategy of fuzzy control and sliding mode variable structure control is proposed.Firstly,a path planning method based on quintic polynomial is adopted.A vehicle trajectory tracking control strategy based on MPC model predictive control is adopted to control vehicle lane changing by controlling front wheel angle and active steering.A control strategy of coordinated control between sliding mode controller and fuzzy controller is proposed.The stable boundary equation is determined by phase plane method,then the boundary equation is involved in the controller,and the yaw moment is reasonably distributed to each wheel by differential braking.Through the joint simulation of MATLAB and Carsim,different simulation conditions are designed.The results show that the coordinated control method designed in this paper can effectively improve the vehicle trajectory tracking performance and the stability and safety in vehicle path planning under high-speed and emergency driving conditions.