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针对滑动转向无人地面车辆的轨迹跟踪控制问题,考虑其横向运动不可控的特点,采用解耦设计方法,对车辆沿x轴的纵向运动和绕z轴的旋转运动分别进行控制,根据模糊控制理论,设计了包括车辆纵向速度模糊控制器和偏航角速度模糊控制器在内的轨迹跟踪控制器。为确保运动平稳,防止车轮打滑,引入了受限控制策略,对纵向速度和偏航角速度进行PD闭环控制,保证车辆运动所需的总的纵向驱动力和偏航扭矩,并采用平均分配的方法将纵向驱动力和偏航扭矩分配为6个车轮驱动扭矩命令值。通过RecurDyn软件建立了车辆虚拟样机动力学模型,并采用联合仿真的方法对所提算法进行了仿真,结果表明该算法是有效的。
Aiming at the trajectory tracking control problem of unmanned ground vehicle with sliding steering, considering the characteristics of its uncontrollable lateral motion, the decoupling design method is used to control the longitudinal movement of the vehicle along the x-axis and the rotation around the z-axis respectively. According to the fuzzy control Theory, a trajectory tracking controller including vehicle longitudinal velocity fuzzy controller and yaw rate fuzzy controller is designed. In order to ensure smooth movement and prevent the wheel from slipping, a restricted control strategy is introduced to control the longitudinal velocity and the yaw rate in a closed-loop PD system to ensure the total longitudinal driving force and yawing torque required for vehicle movement. The average distribution method The longitudinal drive force and yaw torque are assigned to six wheel drive torque command values. The dynamic model of vehicle virtual prototype was established by RecurDyn software and the proposed algorithm was simulated by the co-simulation method. The results show that the algorithm is effective.