智能探测车避障转向控制  

Steering Control of Intelligent Detection Vehicle for Obstacle Avoidance

作　　者：沈峘[1] 李舜酩[1] 魏民祥[1] 王志超[1] 周华鹏[1] 李芳培[1] 

机构地区：[1]南京航空航天大学能源与动力学院,南京210016

出　　处：《重庆工学院学报（自然科学版）》2009年第5期1-6,共6页Journal of Chongqing Institute of Technology

基　　金：国家自然科学基金资助项目(50675099);江苏省普通高校研究生科研创新计划资助项目(CX08B_044Z);江苏省自然科学基金资助项目(BK2007197)

摘　　要：针对智能探测车的转向系统是一个具有大延迟、非线性的复杂系统,对其建立精确的数学模型较为困难,且其航向易受到诸多因素干扰的问题,研究了预测控制中的动态矩阵法,提出一种新的智能探测车转向机构模型.该方法用障碍物的方向角和距离偏差作为参数,在预测控制算法中采用动态矩阵控制,输出前轮转向角,再将转向角预测量与实际转向角之和作为反馈,对转向角变化趋势做出预测.通过仿真验证了在不同纵向速度下,加入相同干扰时的系统响应.结果表明,该算法在智能探测车障碍物避让控制中,对外界环境的干扰具有较强的鲁棒性,能够满足智能探测车转向控制要求.The steering system delay and disturbance. The of intelligent vehicle is essentially accurate mathematical model of a complex nonlinear system with time the control system can hardly be constructed. For solving this issue, the dynamic matrix control is studied. Then the turning framework model of intelligent vehicle is proposed. The direction and the distance of obstacles are adopted as parameters of input, and output is turning angle. Then forecast of turning angle and actual turning angle act as the feedback, and the change trend of turning angle is predicted. The response of the system is simulated and calculated in different velocity to which the same disturbance is added. The result of simulation analysis and experiments show that this method has robustness to the interferer, and meet the requirements of intelligent vehicle for steering control.

关 键 词：障碍物避让 转向控制 预测控制 智能探测车 

分 类 号：U46[机械工程—车辆工程] TP302[交通运输工程—载运工具运用工程]