摘要
针对汽车动力学速度控制的强非线性特性,基于预瞄-跟随理论,建立了车辆速度控制过程中的速度跟随运动模型;并提出了智能车辆速度跟随的控制算法。在PreScan和matlab/simulink的联合仿真中,实现了车辆的速度跟随控制;并对速度变化过程中速度跟随控制算法的性能进行了仿真验证。结果表明,车辆基本可以跟随参考速度行驶,并且可以实现自动减速停车。
Aiming at strong nonlinear characteristics of vehicle dynamics control, preview-follower method was used to establish speed tracking movement in the vehicle speed control process, and speed tracking control algorithm of intelligent vehicle was bring forward. Speed tracking control was implemented in the unite simulation condition of PreScan and matlab/simulink, and the performance of speed tracking control algorithm was verified in the speed change process. Simulation results show that vehicle can basically track the reference speed driving and automatical- ly slow down and stop.
出处
《科学技术与工程》
北大核心
2013年第14期3912-3916,共5页
Science Technology and Engineering
基金
国家自然科学基金项目(51178053
50678027)
十一五国家科技支撑计划项目(2009BAG13A05)资助
关键词
速度控制
速度跟随
预瞄-跟随理论
仿真
speed control speed tracking preview-follower method simulation
