线控转向汽车路径跟踪控制策略研究

Research onControl Algorithm of Path Following for Steer- By- Wire Vehicle

针对线控转向传动比可变的特点,提出一种混合智能变传动比技术的线控转向路径跟踪控制策略,解决了传统模型算法中传动比固定或变化范围较小,导致车辆转向性能下降的问题。首先利用模糊神经网络、直线拟合、模糊软切换三种技术设计出线控转向系统的兼顾转向性能和转向稳定性的智能总传动比,然后利用该传动比设计线控转向控制系统,并将控制策略进行联合仿真。研究表明:在低速以及中高速情况下,无论是简单路径还是复杂路径,混合智能变传动比的线控转向汽车都有较强的路径跟踪能力,验证了控制策略的有效性。

The path following control strategy of steer-by-wire based on the hybrid-intelligent variable steering ratio control algorithm was present. The hybrid-intelligent variable steering ratio was designed at first using the fuzzy neural network, the linear fittin$ and the fuzzy soft-switch. The hybrid-intelligent variable steering ratio was utilized to design the control system of steer-by-wire and the co-simulatin experiments were carried out. Simulation results show that, in the low and middle high speed conditions, whether simple or complex path, the steer-by wir vehicle based on the hybrid-intelligent variable steering ratio has goog path tracking ability.