摘要
为解决智能车在不同车速行驶时稳定性差、轨迹跟踪误差大的问题,提出一种自适应参数控制器。首先,基于简化的三自由度动力学模型,根据Fiala轮胎公式建立轮胎的非线性模型,采用递归最小二乘法识别轮胎侧偏刚度的变化;针对车辆在不同速度行驶时轨迹跟踪偏差较大的问题,由600组离线仿真实验筛选出287条有效数据组合,采用TOPSIS熵权法得到不同车辆行驶速度下预测时域和控制时域的最优组合,并对每一组速度和与之对应的时域参数做出样条插值拟合处理,设计自适应参数控制律。使用CarSim/Simulink联合仿真,对比固定参数控制器与自适应参数控制器的仿真效果,结果表明:车辆在加减速工况下最大横向偏差缩小48.8%,最大航向偏差缩小63.3%,最大质心侧偏角缩小5.5%。可见,文章设计的参数自适应控制器更具稳定性,跟踪性能更好。
In order to solve the intelligent vehicle stability while travelling at different speed,the problem of trajectory tracking error,an adaptive parameter controller is put forward.First of all,based on the simplified three degrees of freedom dynamic model of according to the formula to establish the nonlinear model of the tire Fiala tyres,using recursive least squares method to identify the change of the tire cornering stiffness.For vehicles at different speeds when the trajectory tracking problem,the deflection from 600 groups of offline simulation 287 valid data combination,right to the entropy TOPSIS method under different vehicle driving speed prediction and control of the optimal combination of the time domain,time domain and the speed of each group and the corresponding time domain parameter spline interpolation processing,design adaptive parameter control law.CarSim/Simulink co-simulation was used to compare the simulation effects of the fixed parameter controller and the adaptive parameter controller.The results show that under acceleration and deceleration conditions,the maximum lateral deviation of the vehicle decreased by 48.8%,the maximum heading deviation reduced by 63.3%,and the maximum centroid lateral angle decreased by 5.5%.It can be seen that the parameter adaptive controller designed in this paper has better stability and tracking performance.
作者
黄益绍
王博
李晨艳
袁朋涛
HUANG Yishao;WANG Bo;LI Chenyan;YUAN Pengtao(School of Transportation Engineering,Changsha University of Science and Technology,Changsha 410114,China)
出处
《中国测试》
北大核心
2025年第2期169-175,共7页
China Measurement & Test
基金
国家自然科学基金(51678075)
湖南省自然科学基金项目(2022JJ30619)
长沙市重大专项(kh2301004)。
关键词
模型预测控制
侧偏刚度
智能车辆
自适应
轨迹跟踪
model predictive control
tire side stiffness
intelligent vehicle
adaptive
trajectory tracking
