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综合考虑智能电动车辆动力学方程中轮胎纵、横向力之间的耦合,使得纵向和横向控制器耦合在一个相互联系的控制结构中。纵向控制器基于串级控制结构,用于速度跟踪和力矩控制。基于纵向滑动率和控制力矩的虚拟控制律跟踪时变的纵向速度,设定时变控制矩阵的时变项边界从而获得纵向控制稳定的条件;提出一种跟踪期望横摆角横向控制方法,在车辆当前行驶位置和道路预瞄点之间实时规划逼近目标路径的虚拟路径。采用基于上界的滑模变结构策略跟踪期望横摆角,使车辆实现自动驾驶,参考速度由给定跟踪路径获得。横向控制基于静状态反馈控制、期望横摆角度控制及期望横摆角控制通过Matlab/Simulink仿真对比,验证了联合控制策略的有效性。
Considering the coupling of longitudinal and transverse forces in the dynamic equations of smart electric vehicles, the longitudinal and lateral controllers are coupled in an interconnected control structure. The longitudinal controller is based on a cascade control structure for speed tracking and torque control. A virtual control law based on longitudinal slip and control torque is used to track the time-varying longitudinal velocity and set the time-varying boundary of time-varying control matrix to obtain the condition of longitudinal control stability. A transverse control method of tracking desired yaw angle is proposed. Real-time planning of the virtual path approaching the target path between the current driving position of the vehicle and the pre-alignment point of the road. A sliding mode variable structure strategy based on the upper bound is used to track the desired yaw angle to achieve automatic driving of the vehicle. The reference speed is obtained from a given tracking path. The transverse control is based on the static state feedback control, the desired yaw angle control and the expected yaw angle control are verified by Matlab / Simulink simulation, which verifies the effectiveness of the joint control strategy.