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为改善车辆紧急避障工况下的稳定性,建立滑模控制系统。设计七自由度非线性整车动力学模型和人车路闭环模型,运用滑模变结构理论,以车辆实际横摆角速度和理想的横摆角速度之差为输入变量,以前轮转角响应紧急避障要求为控制目标,以跟踪理想横摆角速度为目的进行控制计算。结果表明,紧急避障工况下采用滑模控制系统设计的路径跟踪控制器,能够控制车辆跟踪规划的理想避让路径,横摆角速度幅值为0.234 rad/s,小于未加控制车辆的横摆角速度,响应速度更快;经过滑模控制的车辆在路径跟踪过程中质心侧倾角最大值为0.037 rad,小于未受控制的车辆的相应值。
In order to improve the stability under emergency conditions, a sliding mode control system is established. A seven-DOF non-linear dynamic model of vehicle and a closed-loop model of vehicle are designed. Using the sliding-mode variable structure theory, the difference between the actual yaw rate and the ideal yaw rate is taken as input variables, It is required to control calculation for the purpose of tracking the desired yaw rate. The results show that the path tracking controller designed by the sliding mode control system under the emergency avoidance condition can control the ideal avoidance path of the vehicle tracking plan. The yaw rate is 0.234 rad / s, which is smaller than that of the unmanned vehicle The angular velocity and response speed are faster. The maximum value of the center of mass roll angle of the sliding mode controlled vehicle during the path tracking is 0.037 rad, which is less than the corresponding value of the uncontrolled vehicle.