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车辆系统实际存在的诸多不确定性因素会对控制器的性能产生严重影响.首先在传统自行车模型的基础上,充分考虑模型简化过程中可能产生的未建模动态,建立考虑未建模动态的车辆二自由度模型;其次根据随机模型预测控制算法设计转向控制器,实现对车辆侧向轨迹的跟踪.为证明该算法的有效性,结合车辆动力学软件ve DYNA在车辆运行的各种工况下进行仿真研究,都实现了较好的跟踪效果.为进一步验证建模过程中考虑的未建模动态的影响,设计了两个控制器并做了一系列的实验,结果表明对车辆的非线性进行补偿可以提高轨迹跟踪的精度.
Many uncertainties in the vehicle system will have a serious impact on the performance of the controller.Firstly, based on the traditional bicycle model, the unmodeled dynamics that may arise in the model simplification process are fully considered and the unmodeled dynamics Vehicle two-degree-of-freedom model.Secondly, the steering controller is designed according to the stochastic model predictive control algorithm to track the vehicle’s lateral trajectory.In order to prove the effectiveness of the algorithm, combining the vehicle dynamics software ve DYNA in various operating conditions Under the simulation study, have achieved a better tracking effect.In order to further verify the impact of unmodeled dynamics considered in the modeling process, designed two controllers and a series of experiments, the results show that the non-vehicle Linear compensation can improve the accuracy of trajectory tracking.