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为实现复杂工况下的车道线保持控制,建立了包含转向机构动态的车辆横向动力学模型,在此基础上研究了车辆在直道与弯道工况下的车道保持控制问题并提出一种自校正滑模控制方法。该方法引入sigmoid函数代替滑模控制中的符号函数并根据Lyapunov稳定性理论设计了自校正律,在自校正律的作用下sigmoid函数的边界层厚度以及切换增益可根据系统状态进行自适应调节,从而改善滑模控制器输出的抖振现象;另外该方法通过引入饱和环节对滑模控制器产生的一些过大的控制信号进行过滤,以改善传统滑模控制在初始时刻控制量过大的缺点。基于Lyapunov理论证明了该方法的稳定性,最后通过仿真试验进一步验证了该方法的可行性及有效性。
In order to achieve the control of the lane line under complicated working conditions, a dynamic lateral vehicle dynamics model including the steering mechanism was established. Based on this, the problem of lane keeping control of the vehicle under straight and curved conditions was studied and a Correction of sliding mode control method. This method introduces the sigmoid function instead of the symbol function in the sliding mode control and designs the self-tuning law according to the Lyapunov stability theory. The thickness of the boundary layer and the switching gain of the sigmoid function under the self-tuning law can be adaptively adjusted according to the system state, So as to improve the chattering of the output of the sliding mode controller. In addition, this method filters some oversized control signals generated by the sliding mode controller by introducing a saturation component to improve the disadvantage of the traditional sliding mode control that the control amount is too large at the initial time . The stability of this method is proved based on Lyapunov theory. Finally, the feasibility and effectiveness of this method are verified by simulation.