驾驶机器人车辆的多模式切换控制

Multi-mode Switching Control for Robot Driven Vehicles

为实现不同驾驶工况下精确的车速与轨迹跟踪,提出了一种驾驶机器人车辆多模式切换控制方法。通过分析驾驶机器人操纵自动挡车辆踏板与转向盘的运动,建立了驾驶机器人加速与制动机械腿和转向机械手的运动学模型和车辆纵横向动力学模型。在此基础上,设计了加速/制动机械腿切换控制器、模糊PID/模糊PID+Bang-Bang车速切换控制器和模糊PID/模糊PID+Bang-Bang转向切换控制器。加速/制动机械腿切换控制器以目标车辆加速度为切换规则,协调控制加速和制动机械腿,车速切换控制器以车速误差作为Bang-Bang控制器的模式决策准则和模糊PID控制器的输入,转向切换控制器以轨迹跟踪侧向误差作为Bang-Bang控制器的模式决策输入,并以当前与下一个控制时刻横摆角速度之差作为模糊PID控制器的输入。仿真和试验结果验证了所提出方法的有效性。

In order to realize the accurate speed and trajectory tracking under different driving conditions,a multi-mode switching control method for robot driven vehicle is proposed.Through analyzing the manipulation of robot driver on the movements of pedals and steering wheel in an automatic transmission vehicle,the kinematic models of the mechanical legs for acceleration and braking and the mechanical manipulator for steering wheel of robot driver and the longitudinal and lateral kinetic models of vehicle are established.On this basis,the switching controllers for acceleration and braking mechanical legs,fuzzy PID/fuzzy PID+Bang-Bang speed switching controller and fuzzy PID/fuzzy PID+Bang-Bang steering switching controller are designed.In them,the switching controllers for acceleration and braking mechanical legs take target vehicle acceleration as switching rule to achieve coordinated control of acceleration and braking mechanical legs,the speed switching controller takes speed error as the criteria for the mode decision making of Bang-Bang controller and the input of fuzzy PID controller,while the steering switching controller takes the lateral error of trajectory tracking as the mode decision making input of Bang-Bang controller and takes the yaw rate difference between current and next control moment as the input of fuzzy PID controller.The results of simulation and test verify the effectiveness of the method proposed.