摘要
建立了基于车辆动力学模型的车辆-道路系统模型,通过线性变换,得到了用横向位置偏差和方向偏差描述的系统状态方程.采用滑模变结构控制理论,设计了基于指数趋近律的自动转向控制算法.分析了趋近律函数的指数趋近项参数和等速趋近项参数对系统输出的影响,并基于侧向加速度的要求提出了参数选取方法.仿真结果表明,根据提出的参数选取方法设计的控制算法在高速路径跟踪时,具有良好的道路跟踪精度及动态性能.
An intelligent vehicle-road model was established based on vehicle dynamics and it was transformed to an error-based equation in state space by linear transformation. According to the sliding mode variable structure control theory, the automatic steering control algorithm with exponential reaching law was proposed. Then the effect of reaching law parameters on system dynamic quality was analyzed in detail and a novel method to select the reaching law parameters was proposed. Simulation was conducted to validate the proposed algorithm. The results show that the developed automatic steering sliding mode algorithm not only follows the road with small error, but also improves the vehicle dynamic performance.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2011年第10期1174-1178,共5页
Transactions of Beijing Institute of Technology
基金
国家自然科学基金资助项目(90920304)
关键词
自动转向
滑模变结构
趋近律参数
车辆控制
automatic steering
sliding mode control
reaching law parameters
vehicle control
