摘要
为应对汽车试验中转向机器人控制车辆的精确轨迹跟踪需求以及轮胎力进入非线性区的极限工况,设计了一种基于分层控制的转向机器人控制系统。该系统将转向机器人与汽车转向系统耦合动力学模型作为下层被控对象,并以基于线性Dugoff轮胎模型的汽车三自由度动力学模型作为上层控制算法的被控对象。上层控制器采用线性时变模型预测控制(linear time-varying model predictive control, LTV-MPC)算法,下层控制器采用带有预测和前馈模块的线性二次型调节器(linear quadratic regulator, LQR)算法。为了验证控制系统性能,在Matlab/Simulink与CarSim联合仿真环境下进行了常用工况和极限工况下的双移线试验。并将该系统与采用MPC、预瞄LQR和预瞄PID作为上层控制算法的控制系统进行对比,同时分析了线性Magic轮胎模型和线性Dugoff轮胎模型对控制系统性能的影响。仿真结果表明,所提出的分层控制系统在常用工况和线性化轮胎模型的极限工况下均保持良好的轨迹跟踪性能。
To address the demanding requirements of precise trajectory tracking in automotive testing,particularly under extreme conditions where tire forces enter the nonlinear region,a steering robot control system based on a hierarchical control architecture has been developed.This system utilizes a coupled dynamic model of the steering robot and the vehicle steering system as the lower-level controlled object,and a three-degree-of-freedom vehicle dynamic model based on a linear Dugoff tire model as the controlled object for the upper-level control algorithm.The upper-level controller employs a linear time-varying model predictive control(LTV-MPC)algorithm,while the lower-level controller utilizes a linear quadratic regulator(LQR)algorithm with prediction and feedforward modules.To validate the performance of the control system,double lane change(DLC)tests were conducted under both normal and extreme operating conditions using a co-simulation environment of Matlab/Simulink and CarSim.The proposed system was compared with control systems using MPC,preview LQR,and preview PID as upper-level control algorithms.The influence of linear Magic Formula and linear Dugoff tire models on control system performance was also analyzed.Simulation results demonstrate that the proposed hierarchical control system maintains good trajectory tracking performance under both normal operating conditions and extreme conditions with the linearized tire model.
作者
罗富强
赵书尚
郅耀威
王俊杰
LUO Fuqiang;ZHAO Shushang;ZHI Yaowei;WANG Junjie(College of Mechanical and Electrical Engineering,Henan University of Science and Technology,Luoyang 471003,China)
出处
《兵器装备工程学报》
北大核心
2025年第8期319-330,共12页
Journal of Ordnance Equipment Engineering
