高速智能车辆变结构转向控制器切换超平面选取方法

METHOD OF CHOOSING SWITCHING HYPERPLANE OF HIGH-SPEED INTELLIGENT VEHICLE VARIABLE STRUCTURE STEERING CONTROLLER

建立车辆转向动力学模型,运用滑模变结构控制理论设计了变结构控制器,由于滑模超平面的选取对控制器的品质起关键作用,介绍了切换超平面的选取方法,通过仿真和试验证明了此种方法使车辆变结构转向控制器具有良好的跟踪性能和鲁棒性。

It establishes the linear model of the vehicle driving system and uses the variable structure control theory to make the vehicle steering controller. Because choosing of switching hyperplane is a key to quality of controller, it introduces method of choosing switching hyperplane. The method is proved to have favorable track capability and robustness.