摘要
采用逆M序列作为系统的输入信号,通过最小二乘算法得到车辆转向系统、驱动系统的传递函数,结合车辆预瞄运动学模型和车辆二自由度转向动力学模型,建立车辆转向控制与位置误差数学模型。根据现代控制理论设计最优导航控制器稳定跟踪目标路径,基于Backstepping函数控制算法,选取Lyapunov函数设计智能车辆换道及超车轨迹跟踪控制器。仿真分析和试验结果表明:所设计的控制器在智能车辆户外自主导航中具有良好的跟踪性能。
Regarded converse M sequence signals as input response signals, authors established dynamic equation for vehicle steering system and motor system by least squares method. Combined with preview dynamic model and steering dynamic model of vehicle with two degrees of freedom, the steering control and position deviation mathematics model for vehicle was established. Authors designed optimal controller for tracking target path steadily according to modern control theory. Based on Backstepping function control algorithm, Lyapunov function was chosen to design controller for intelligent vehicle lane changing and overtaking lane track. Simulation analysis and experimental results show that the controller has good track performance during the intelligent vehicle outdoor navigation experiments.
出处
《中国公路学报》
EI
CAS
CSCD
北大核心
2008年第4期111-116,共6页
China Journal of Highway and Transport
基金
国家自然科学基金项目(50175046)
教育部科学技术研究重点项目(00037)
