MPC-based path tracking with PID speed control for high-speed autonomous vehicles considering time-optimal travel

In order to track the desired path as fast as possible,a novel autonomous vehicle path tracking based on model predictive control(MPC)and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits,in which a forward-backward integration scheme was introduced to generate a time-optimal speed profile subject to the tire-road friction limit.Moreover,this scheme was further extended along one moving prediction window.In the MPC controller,the prediction model was an 8-degree-of-freedom(DOF)vehicle model,while the plant was a 14-DOF vehicle model.For lateral control,a sequence of optimal wheel steering angles was generated from the MPC controller;for longitudinal control,the total wheel torque was generated from the PID speed controller embedded in the MPC framework.The proposed controller was implemented in MATLAB considering arbitrary curves of continuously varying curvature as the reference trajectory.The simulation test results show that the tracking errors are small for vehicle lateral and longitudinal positions and the tracking performances for trajectory and speed are good using the proposed controller.Additionally,the case of extended implementation in one moving prediction window requires shorter travel time than the case implemented along the entire path.

Extension of continuous scanning laser Doppler vibrometry measurement for complex structures with curved surfaces

The continuous Scanning Laser Doppler Vibrometry(SLDV)developed on the base of the galvanometer scanner system has made it possible to quickly obtain the full field vibration responses within a rectangular area of the structure.In this paper,an arbitrary continuous scanning path generating method for Continuous Scanning Laser Doppler Vibometry(CSLDV)is further put forward in order to allow the CSLDV suitable for testing structures featured by complex shapes not just for regular areas.In the first step,the relationship between position of laser spot and the driving voltages of galvanometer scanner system has been described by a mathematical modeling.Then,a novel arbitrary scanning path generating strategy based on CSLDV is presented by deforming a normalization rectangular scanning path to an arbitrary continuous scanning path.The mapping relation between the normalization rectangular scanning path and arbitrary continuous scanning path is established using the reference points.In the second step,a compressor blade with curved surface was taken as an example for modal test using the proposed method.At the same time,a validated experiment was performed in SLDV.The results show the mode shapes derived from the extended CSLDV are in agreement with those from SLDV and the Modal Assurance Criterion(MAC)between the two are all greater than 0.96.They also demonstrate the feasibility and effectiveness of the proposed method for CSLDV test and show strong potential on further practical engineering applications.