融合自适应曲线预瞄的驾驶机器人转向操纵粒子群优化滑模控制  

Particle Swarm Optimization Sliding Mode Steering Control of Driving Robot Integrated with Adaptive Curve Preview

作　　者：蒋一辰 陈刚[1] JIANG Yichen;CHEN Gang(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《西安交通大学学报》2021年第3期175-185,共11页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(51675281);中央高校基本科研业务费专项资金资助项目(30918011101);江苏省研究生科研与实践创新计划项目(SJCX20_0110)。

摘　　要：为提高不同工况下驾驶机器人操纵试验车辆的转向精度和自适应能力,提出了一种基于自适应曲线预瞄的驾驶机器人转向操纵粒子群优化滑模控制方法。首先建立了试验车辆动力学模型和驾驶机器人转向机械手动力学模型,并构建了驾驶机器人转向操纵试验车辆的集成系统动力学模型,接着研究了一种融合路径曲率和车速的驾驶机器人转向操纵自适应曲线预瞄方法,其预瞄点位置能够根据车速和路径曲率做出自适应调整。在此基础上,设计了用于驾驶机器人转向操纵的粒子群优化滑模控制器,并进行了稳定性分析,同时利用粒子群算法在线优化滑模控制切换项的反馈增益系数,以减小控制抖振。仿真及试验结果表明,所提出的方法能够在不同工况下根据路径曲率和车速做出自适应调整,实现驾驶机器人操纵车辆的精确转向控制。To improve the steering control accuracy and adaptability of robot-driven vehicle(UDRV)under different conditions,a sliding mode control method with particle swarm optimization(PSO)for the steering control of driving robot based on adaptive curve preview is proposed.Firstly,the dynamics models for the test vehicle and the steering manipulator of driving robot are established,then the two models are coupled together to obtain an integrated system dynamics model of the test vehicle manipulated by driving robot.An adaptive curve preview method is proposed,which can make adaptive adjustment for the preview point according to the curvature of the path and the speed of the vehicle.Based on the above,the sliding mode controller with PSO for steering manipulator of driving robot is designed,then the stability analysis is carried out.With the help of PSO,the feedback gain coefficient of the sliding mode controller’s switch item is adjusted online to reduce the control chattering.The simulation and test results show that the proposed method can effectively conduct adaptive adjustment according to the path curvature and vehicle speed under different conditions,and the steering control accuracy of UDRV is verified.

关 键 词：驾驶机器人 转向控制 自适应曲线预瞄 滑模控制 粒子群优化 

分 类 号：U461.6[机械工程—车辆工程]