| 基于自抗扰技术的智能车横向控制 |
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| 引用本文： | 王烽,朱华炳,余冬财,高崧.基于自抗扰技术的智能车横向控制[J].农业装备与车辆工程,2021(2):48-53. |
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| 作者姓名： | 王烽 朱华炳 余冬财 高崧 |
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| 作者单位： | 合肥工业大学机械工程学院 |
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| 摘 要： | 针对智能车辆横向控制问题,以二自由度车辆模型为研究对象,通过构造一个关于横向偏差和期望偏航角的理想偏航角,以控制车辆横摆角跟踪到理想偏航角为目的,设计自抗扰车辆横向控制器。自抗扰控制器能够将车辆的质量参数、侧偏刚度等不确定参数和外界扰度观测出来并进行补偿,保证控制系统的鲁棒性。Simulink/CarSim联合控制仿真实验表明:车辆跟踪双移线路径时,自抗扰控制器相较于模型预测控制器的路径跟踪精度更高;在不同道路附着条件和不同负载时,都具有良好的跟踪效果。
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| 关 键 词： | 智能车辆 横向控制 理想偏航角 自抗扰 联合仿真 |
Lateral Control of Intelligent Vehicle Based on Active Disturbance Reduction Technology |
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| Wang Feng,Zhu Huabing,Yu Dongcai,Gao Song.Lateral Control of Intelligent Vehicle Based on Active Disturbance Reduction Technology[J].Agricultural Equipment & Vehicle Engineering,2021(2):48-53. |
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| Authors: | Wang Feng Zhu Huabing Yu Dongcai Gao Song |
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| Institution: | (College of Mechanical Engineering,Hefei University of Technology,Hefei City,Anhui Province 230009,China) |
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| Abstract: | Aiming at the problem of lateral control of intelligent vehicles,2-degrees-of-freedom vehicle model is taken as the research object.By constructing an ideal yaw angle about the lateral deviation and the desired yaw angle,an ADRC vehicle lateral controllerit is designed to control the vehicle yaw angle to track the ideal yaw angle.The active disturbance rejection controller can estimate and compensate for uncertain parameters such as the vehicle's mass parameters,lateral stiffness,and external disturbances,and ensure the robustness of the control system.Simulink/CarSim joint control simulation experiments show that when a vehicle tracks a double-shift path,the ADRC controller has higher path tracking accuracy than the model predictive controller;it has good performance under different road attachment conditions and different loads. |
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| Keywords: | intelligent vehicle lateral control error function ADRC co-simulation |
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