摘要
在分数阶微积分及分数阶PIλDμ控制器的基础上,给出了一个带有分数阶PDμ控制器的车辆方向控制算法,设计了一种基于预瞄-跟随理论的分数阶PDμ控制器的在线整定方法,并对带有分数阶PDμ控制器和带有整数阶PD控制器的驾驶员-车辆系统进行了综合性能评价.结果表明,分数阶PDμ控制器在闭环系统中是有效且可靠的,分数阶控制器的使用使驾驶员-车辆系统的性能有了明显的改善.
A novel controller, fractional order PI^λD^μ controller, was proposed to improve the control performances of the driver-vehicle system. The fractional calculus and the fractional order PI^λD^μcontrollerwere introduced. And a control algorithm of vehicle directional control with fractional order PD^μ controller was presented. Based on the preview-follower theory, the on-line tuning method of fractional order PD^μ controller was designed. By comparison of the simulated and experimental results, the validity and reliabil-ity of the fractional order PD^μ controller in the closed loop system was verified. Finally, the comprehensive evaluations were performed between the proposed system and system with integer PD controller. The results demonstrate that the use of the fractional order controller leads to the improvement of the performances of the driver-vehicle system.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2007年第2期278-283,共6页
Journal of Shanghai Jiaotong University
