驾驶机器人纵横向操纵协调控制方法  

Coordination Control Method of Longitudinal and Lateral Manipulation for Driving Robot

作　　者：陈刚[1] 顾爱博 王良模[1] 李旭[2] 张为公[2] CHEN Gang;GU Aibo;WANG Liangmo;LI Xu;ZHANG Weigong(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094;School of Instrument Science and Engineering,Southeast University,Nanjing 210096)

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

出　　处：《机械工程学报》2021年第11期165-176,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51675281);江苏省六大人才高峰计划项目(2015-JXQC-003);中央高校基本科研业务费专项资金项目(30918011101);江苏省研究生科研与实践创新计划(SJCX190052)资助项目。

摘　　要：为了实现对驾驶机器人的精确控制,提出了一种驾驶机器人纵横向操纵协调控制方法。首先通过分析系统结构,建立了驾驶机器人纵横向操纵耦合动力学模型。然后分析驾驶机器人纵横向操纵协调控制策略。在此基础上,设计加速和制动操纵模糊滑模控制器以及转向操纵鲁棒反演控制器分别用于精确稳定地控制驾驶机器人对试验车辆的纵横向操纵。仿真及试验结果表明,提出的方法能够精确稳定地控制驾驶机器人操纵试验车辆,避免加速与制动的频繁切换,并能对纵横向操纵进行有效的协调控制。In order to realize accurate control of driving robot, a coordination control method of longitudinal and lateral manipulation for driving robot is proposed. Firstly, the system structure is analyzed, and the coupling dynamic model of longitudinal and lateral manipulation for driving robot is established. Then the coordination control strategy of longitudinal and lateral manipulation for driving robot is analyzed. On the basis of this, the fuzzy sliding mode controllers of accelerator and brake manipulation leg are designed, and the robust backstepping controller of steer manipulation arm is designed. The controllers are used to achieve the accurate and stable coordination control of longitudinal and lateral manipulation for driving robot. Simulation and experiment results show that the proposed method can make driving robot manipulate the test vehicle precisely and steadily, so that frequent switch of acceleration and brake can be avoided, and effective coordination control of accelerator mechanical leg and brake mechanical leg and steering mechanical arm for driving robot can be achieved.

关 键 词：驾驶机器人 纵横向操纵 协调控制 模糊滑模 鲁棒反演 

分 类 号：U461[机械工程—车辆工程]