摘要
为了提高智能车在路径跟踪过程中的系统稳定性,基于李雅普诺夫(Lyapunov)稳定性理论设计了模型参考自适应路径跟踪控制器,并引入系统反馈补偿矩阵,化为线性二次最优控制(LQR)问题进行求解。通过搭建CarSim/Simulink联合仿真平台将控制器与传统模型预测控制器进行对比,设定速度与路面附着系数均不同的仿真工况,对比两种控制器的跟踪效果,仿真结果表明,该控制器具有良好的路径跟踪能力,并具有一定的鲁棒性。
In order to improve the stability of the intelligent vehicle system in the process of path tracking,this paper designs a model reference adaptive path tracking controller based on the theory of Lyapunov stability control.By adding feedback matrix to make the system stable,Next,Solving the feedback Matrix by the method of LQR.Finally,co-simulation with different vehicle speeds and different road adhesion coefficient is carried out under the conditions of double lane change on the CarSim and MATLAB/Simulink platform.The results show that the controller can realize the path tracking accurately and has certain robustness,which lays a theoretical foundation for the design of vehicle stability controller.
作者
郑鑫
赵又群
Zheng Xin;Zhao Youqun(Nanjing University of Aeronautics and Astronautics,Nanjing 210016)
出处
《汽车技术》
CSCD
北大核心
2020年第8期1-5,共5页
Automobile Technology
基金
陆军装备预研专用技术项目(30105190505)
国家自然科学基金项目(11672127)
南京航空航天大学教育教学改革研究项目(2019JG0259K)。