低速无人驾驶纵向运动控制的仿真研究

Simulation Research on Longitudinal Motion Control of Low-Speed Unmanned Vehicle

针对低速无人驾驶车辆行驶环境的复杂性及其线控底盘的差异性,有针对性的开展了纵向运动控制系统的仿真研究。基于Matlab/Simulink和Carsim建立了包含整车模型、驱动系统模型以及制动系统模型的纵向运动控制系统的联合仿真平台;设计了基于分层控制结构和PID+LQR补偿控制算法的纵向速度跟踪控制器;模拟多种工况,对纵向速度跟踪控制系统的控制性能进行了仿真测试。测试结果表明,上述控制系统能够克服外界的干扰,在满足性能指标要求的前提下,实现对速度的良好跟踪。

Aiming at the complexity of the driving environment and the difference of the chassis by wire, simulation research of the longitudinal motion control system is carried out about low-speed unmanned driving vehicles. A joint simulation platform of the longitudinal motion control system is established based on MATLAB/Simulink and Carsim software, the platform is mainly composed of vehicle body model, drive system model and brake system model. A longitudinal speed tracking controller based on hierarchical control structure and PID+LQR compensation control algorithm is designed. The performance test of longitudinal speed tracking control is completed by setting various working conditions. The test results show that the control system can overcome external interference, complete the good tracking of speed on the premise of meeting the requirements of performance indexes.