基于模糊控制的汽车路径跟踪研究  

Research on Vehicle Path Tracking Based on Fuzzy Control

作　　者：汪伟[1,2] 赵又群[1] 许健雄[1] 刘文婷[1] 

机构地区：[1]南京航空航天大学,南京210016 [2]江苏理工学院,常州213001

出　　处：《中国机械工程》2014年第18期2532-2538,共7页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(11072106)

摘　　要：汽车是一个非常复杂的非线性动力学系统,难以建立精确的数学模型,而模糊控制方法适用于难以建立精确数学模型的对象。将模糊控制理论引入汽车操纵逆动力学中,以汽车三自由度模型为研究对象,根据侧向偏差和偏差变化率设计了车辆的路径跟踪模糊控制器。对某车型跟踪给定双移线和蛇形路径行驶情况进行了仿真。结果表明,模糊控制方法可保证汽车准确地跟踪给定参考路径,可以作为车辆路径跟踪控制的一种有效控制方法。The path tracking method was one of the major researches in vehicle handling inverse dynamics .A precise mathematical model was established difficultly because of a very complex nonlin-ear dynamic system of the vehicle .Fuzzy control method was suitable to establish a precise difficult mathematical mode .Fuzzy control theory was introduced into the vehicle handling inverse dynamics . Vehicle model of three freedom degrees was researched .The fuzzy controller of path tracking was de-signed with considering lateral deviation and rate of change .The driving conditions were obtained by simulating path tracking according to given the double lane change and the serpentine path .Simula-tion results show that the fuzzy control algorithm can ensure tracking given path of vehicles accurate-ly ,and can be used as an effective control method good for a vehicle path tracking .

关 键 词：车辆工程 操纵动力学 逆问题 模糊控制 路径跟踪 

分 类 号：U461.6[机械工程—车辆工程]