汽车驾驶机器人模糊车速跟踪控制方法  

Fuzzy Velocity Tracking Control of Vehicle Robot Driver

作　　者：陈刚[1] 张为公[2] 常思勤[1] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]东南大学仪器科学与工程学院,江苏南京210096

出　　处：《南京理工大学学报》2012年第2期226-231,共6页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(51008143);中国博士后科学基金(2011M500922);南京理工大学自主科研专项计划(2011YBXM43)

摘　　要：为了实现汽车驾驶机器人在各种工况下对给定车速的准确跟踪,提出了一种驾驶机器人模糊车速跟踪控制方法。驾驶机器人根据试验循环工况规定的目标车速和实时采集到的试验车辆车速解算出车速误差和车速误差变化率,经过模糊推理得到驾驶机器人油门、制动、离合器机械腿和换挡机械手的下压或回收运动差值,从而实现驾驶机器人的精确定位控制。试验结果表明,试验条件的变化对模糊车速跟踪控制的影响不大,该方法具有较强的抗干扰能力,能够准确跟踪给定的目标车速,跟踪精度满足要求。To enable the vehicle robot driver track the given vehicle speed under all kinds of conditions,a new fuzzy velocity tracking control method is proposed here.The robot driver calculates the speed error and its change rate from the target velocity provided by test driving cycles and the real measured-test vehicles.The demanded stretching displacements of the throttle pedal,the brake pedal,the clutch pedal,and the shift manipulator for the robot driver are obtained through fuzzy inferencing,and the precise positioning control of the robot driver is achieved.Experimental results show that the change of test conditions has little effect on the fuzzy velocity tracking control.The proposed method has strong anti-jamming capability,and can accurately track the given target velocity with the proper tracking error.

关 键 词：汽车试验 驾驶机器人 车速跟踪 模糊控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U467.5[自动化与计算机技术—控制科学与工程]