无人驾驶汽车线控转向系统控制策略的研究  

The Control Strategy Research of Unmanned Vehicles Steering-by-Wire System

作　　者：吴蒙[1] 张飞铁[1] 文桂林[1] 

机构地区：[1]湖南大学机械与运载工程学院,湖南长沙410082

出　　处：《计算机仿真》2016年第12期163-168,共6页Computer Simulation

基　　金：国家自然科学基金资助项目(51475151)

摘　　要：无人驾驶汽车转向系统设计是实现无人驾驶的关键技术之一。以力帆620汽车为原型,介绍了一种无人驾驶汽车转向系统改装方案和转向控制器设计方案,并完成了无人驾驶汽车转向系统的硬件改造,转向控制策略设计与控制器硬件。以目标转角与实际转角的差值作为转向控制策略的反馈,利用模糊PID算法计算转向执行电机的电流,控制执行电机,完成转向。首先在Matlab/Simulink对转向系统的执行机构建模,联合CarSim中的整车模型对控制算法进行仿真,然后在改造的试验车上进行了实车试验。仿真和试验结果表明,设计的转向控制器模糊PID算法,控制器硬件电路的设计和执行电机驱动电路的设计,满足无人驾驶汽车转向的要求,能准确完成转向,响应快速,性能稳定。The design of unmanned vehicles steering system is one of the key technologies to realize unmanned driving. Based on the LIFAN 620 car, the method modifying steering system of unmanned vehicle and the controller design of steering system were introduced in this paper. The modifying of the steering system, the hardware design of the steering control unit and the design of control strategy were also contacted. In the control unit, the difference between actual angle and the target was considered as a feedback, then the motor was controled and steering was finished using the current of motor calculated through fuzzy PID algorithm. At first, the model of the steering system actuator built in Matlab/Simulink was associated with the vehicle model built in CarSim, and the simulation of the control strategy was carried out. Then, the experiment of our test car with the steering system was contacted. Simulation and experimental resuhs show that the method can meet the requirements of unmanned vehicle steering and can complete steering accurately, response quickly and performance stably.

关 键 词：无人驾驶车辆 转向 控制器 电机控制 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]