吉林大学学报(工学版) ›› 2023, Vol. 53 ›› Issue (3): 735-745.doi: 10.13229/j.cnki.jdxbgxb20211062
• 通信与控制工程 • 上一篇
高松1(),王玉琼1,王玉海2,3,徐艺1,周英超1,王鹏伟1
Song GAO1(),Yu-qiong WANG1,Yu-hai WANG2,3,Yi XU1,Ying-chao ZHOU1,Peng-wei WANG1
摘要:
针对智能汽车纵横向耦合非线性导致的控制系统模型复杂度高以及轮胎侧偏刚度不确定性影响控制效果的问题,提出了一种基于轮胎侧偏刚度估计的纵横向整体反馈线性化控制方法。首先,建立智能汽车纵横向耦合动力学模型和轨迹跟踪偏差模型;其次,对车辆模型的线性化条件进行了判定,利用李雅普诺夫稳定性分析方法设计了可以保证系统稳定和跟踪误差渐近收敛的虚拟控制律;然后,对轮胎侧偏刚度进行了实时估计;最后,通过基于CarSim/Simulink的高速紧急双移线仿真实验,验证了本文提出的方法可使智能汽车在纵横向耦合工况行驶时具有良好的轨迹跟踪性能和稳定性。
中图分类号:
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