基于模型预测控制的路径跟踪控制器模型仿真

Modeling and Simulation of Path Tracking Controller Model Based on Model Predictive Control

文章建立车辆二自由度运动学模型,并将车辆二自由度运动微分方程离散化、线性化,设计了一种基于模型预测算法的轨迹跟踪控制器,并且在实验的基础上制定合理的约束函数和控制规则,从而兼顾路径跟踪的准确性和车辆的稳定性。采用Carsim&Simulink平台对算法进行仿真验证,结果表明基于模型预测控制的轨迹跟踪控制器在5m/s以下时能够较好地跟踪预设轨迹。

In this paper, the two-degree-of-freedom kinematics model of vehicle is established, and the differential equation of vehicle two-degree-of-freedom model is discretized and linearized. A trajectory tracking controller based on model prediction algorithm is designed, and a reasonable constraint function is established based on the experiment, attempting to balance the accuracy of path tracking and vehicle stability. The algorithm is verified by Carsim& Simulink platform. The results show that the trajectory tracking controller based on model predictive control can track the preset trajectory better when it is below 5 m/s.