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區(qū)域交通智能車輛導航控制技術(shù)
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    摘要:

    通過系統(tǒng)辨識實驗得到車輛轉(zhuǎn)向系統(tǒng)動態(tài)特性方程,，結(jié)合車輛預瞄運動學模型和二自由度轉(zhuǎn)向動力學模型建立基于視覺預瞄的轉(zhuǎn)向動力學控制數(shù)學模型，根據(jù)線性二次型最優(yōu)控制理論設(shè)計的最優(yōu)控制器能穩(wěn)定跟蹤直線路徑,。采用模糊控制快速跟蹤弧線導航路徑,，結(jié)合車輛轉(zhuǎn)向系統(tǒng)當前狀態(tài)和最快動態(tài)響應能力建立車輛弧線跟蹤時的變結(jié)構(gòu)控制輸出集。針對JLUIV-Ⅴ型區(qū)域交通智能車輛部分狀態(tài)變量的不可測性,，根據(jù)Kalman濾波理論構(gòu)造狀態(tài)觀測器,。仿真和試驗結(jié)果表明：該控制技術(shù)在區(qū)域交通智能車輛戶外路徑跟蹤過程中平穩(wěn)、可靠,。

    Abstract:

    Establishing the vehicle steering dynamic equation by system identification experiment firstly, then combined with preview kinematics model and two-degree steering dynamic model of vehicle, therefore the vehicle steering control mathematics model based on preview kinematics was established. The optimal controller could trace the line path well. Adopting fuzzy control to fast-track the curve path, combined with the current state and the fastest dynamic response capability of the vehicle steering system, the variable structure control output set of vehicle petersen tracking was established. The Kalman observer was designed to solve the unmeasurable state variable for JLUIV-Ⅴ(CyberCar). The results of both simulation and experiment showed that the control technology could trace the path smoothly and reliably during the outdoor path tracking process of CyberCar.

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王榮本,張榮輝,金立生,郭烈.區(qū)域交通智能車輛導航控制技術(shù)[J].農(nóng)業(yè)機械學報,2007,38(7):39-42.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(7):39-42.

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