汽车自动倒车入库轨迹控制系统设计与优化  

Design and Optimization of Auto Reversing Track Control System

作　　者：叶君香[1] YE Junxiang(Zhejiang Police Vocational Academy,Hangzhou 310018,China)

机构地区：[1]浙江警官职业学院,浙江杭州310018

出　　处：《浙江水利水电学院学报》2022年第5期84-90,共7页Journal of Zhejiang University of Water Resources and Electric Power

基　　金：浙江省重点研发计划项目(2021C01158);浙江省自然科学基金项目(Y21E050017)。

摘　　要：以汽车垂直倒车入库作为研究对象,对汽车自动倒车轨迹模糊控制系统进行设计并优化。汽车倒车是低速运动过程,可以运用阿克曼转向定律,建立车辆的运动学模型代替其动力学模型,提高计算效率。根据倒车的运动学模型,推导出汽车可以成功进入车库的初始位置区域,对车身和通车道的角度为0°和非0°的初始航行方向进行分析,计算模糊控制逻辑,以车身位置的横坐标和纵坐标以及车身朝向角为输入,以车轮转向角为输出,设计了三输入一输出的模糊逻辑控制器。其中,输入输出的隶属度函数和取值范围由专家经验和实际数据决定,在Matlab中设计和优化模糊逻辑控制器,在Simulink进行仿真,进而验证控制算法的有效性。The fuzzy control system of auto reverse track is designed and optimized with the research object of auto reverse storage.Because the vehicle reversing is a low-speed movement process,the Ackerman steering principle can be used to establish a kinematic model of the vehicle instead of its dynamic model to reduce the workload of calculation and simulation.According to the kinematics model of the garage,it deduces that the car can successfully enter the initial position area of the garage,the initial navigation direction with the angle of 0 and non-0 between the vehicle body and the through lane is analyzed,and the fuzzy control logic is calculated,therefore,a three input one output fuzzy logic controller is designed with the abscissa and ordinate of the vehicle body position and the vehicle body orientation angle as inputs and the wheel steering angle as outputs.The membership function and value range of input and output are determined by expert experience and actual data.The fuzzy logic controller is designed and optimized in Matlab,and finally simulated in Simulink to verify the effectiveness of the control algorithm.

关 键 词：垂直倒车 模糊控制 仿真 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]