基于自抗扰控制的自动泊车路径跟踪

Path-tracking of APS Based on ADRC

建立了基于电动助力转向系统的自动泊车系统动力学模型,考虑汽车动力学约束及泊车防碰撞约束,基于两段弧规划路径,使用反正切函数来拟合路径;应用非时间参考的路径跟踪控制策略生成目标转角,采用自抗扰控制(ADRC)方法进行转角跟踪,并通过硬件在环试验进行验证。结果表明,反正切函数拟合的路径曲率连续无突变,非时间参考的路径跟踪效果较好;所提出的ADRC转角跟踪算法比PID控制具有更高的泊车精度和响应速度。

A dynamics model of APS was established herein based on EPS. Consideration of car dynamics constraint and avoidance of collision was taken. Path-planning of two arcs and arctangent function were used, which improved the route fitting. A non-time reference path tracking control strategy was used and ADRC was proposed to track the target angle and the HIL test was conducted. The simulation and test results show that the arctangent function path planning and the non-time ref-erence path tracking all have good control effects, ADRC has a more precise and quick path-tracking ability than that of PID ccrntroller.