基于虚拟控制律的智能车辆纵横向联合控制策略  

Combined control strategy of the intelligent vehicle based on virtual control law

作　　者：汪选要[1,2] 王其东[1,2] 叶友东[2] 李保坤[2] 王金波[1] 

机构地区：[1]合肥工业大学机械与汽车工程学院,安徽合肥230009 [2]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《机械设计》2016年第4期48-53,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51175135;51405004);安徽省自然科学基金资助项目(1308085QE78)

摘　　要：综合考虑智能电动车辆动力学方程中轮胎纵、横向力之间的耦合,使得纵向和横向控制器耦合在一个相互联系的控制结构中。纵向控制器基于串级控制结构,用于速度跟踪和力矩控制。基于纵向滑动率和控制力矩的虚拟控制律跟踪时变的纵向速度,设定时变控制矩阵的时变项边界从而获得纵向控制稳定的条件;提出一种跟踪期望横摆角横向控制方法,在车辆当前行驶位置和道路预瞄点之间实时规划逼近目标路径的虚拟路径。采用基于上界的滑模变结构策略跟踪期望横摆角,使车辆实现自动驾驶,参考速度由给定跟踪路径获得。横向控制基于静状态反馈控制、期望横摆角度控制及期望横摆角控制通过Matlab/Simulink仿真对比,验证了联合控制策略的有效性。The coupling between longitudinal and lateral tyre forces in the intelligent electric vehicle dynamics were considered to make sure that the longitudinal and lateral controller was coupled in an interconnected control structure. The longitudinal controller was based on a cascade control structure proposed for speed tracking and torque control. The virtual control law based on longitudinal sliding rate and control moment was used for tracking time-varying longitudinal velocity. The longitudinal control stability conditions can be established when considering the bounded variation of the time-varying matrix. A yawing angle tracking control method was proposed to track the desired yawing angle. The vehicle can run according to the running location and road aiming point to project the virtual path accurately in the end. A sliding mode variable structure strategy is designed to realize automatic vehicle driving based on the bounded variation of sliding mode variable structure. The reference velocity was obtained by the given tracking path. The lateral controller was based on static state feedback control, desired yawing rate and the desired yaw angle. These parameters were compared by Matlab/Simulink to verify the effectiveness of the combined control strategy.

关 键 词：纵横向联合控制 虚拟控制律 虚拟路径 期望横摆角 滑模变结构 

分 类 号：U461[机械工程—车辆工程]