基于前馈-反馈的变权重路径跟踪控制方法  

A VARIABLE WEIGHT PATH TRACKING CONTROL METHOD BASED ON FEEDFORWARD-FEEDBACK

作　　者：韦峻 江洪[2] 蒋潇杰 姜民 Wei Jun;Jiang Hong;Jiang Xiaojie;Jiang Min(School of Automobile and Traffic Engineering,Jiangsu University,Zhenjiang 212013,Jiangsu,China;School of Mechanical Engineering,Jiangsu University,Zhenjiang 212013,Jiangsu,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013 [2]江苏大学机械工程学院,江苏镇江212013

出　　处：《计算机应用与软件》2023年第4期336-342,共7页Computer Applications and Software

摘　　要：为改善纯追踪算法在车辆中低速时对曲率变化大的路径进行跟踪存在较大跟踪偏差的问题,提出一种基于前馈与反馈的变权重路径跟踪控制方法。前馈和反馈分别采用纯追踪算法与前轮反馈控制算法以求解前轮转角。采用模糊控制,以横向偏差与方向偏差为输入,权重因子为输出。据权重因子分配两前轮转角占比。将提出的控制方法与权重因子固定模型及引用文献的模型进行仿真对比,结果表明,该控制方法能有效改善路径跟踪性能。For medium and low speed vehicles,large tracking deviation is generated when pure tracking algorithm is used to track a reference path with a large curvature change.To solve this problem,a variable weight path tracking control method based on feedforward and feedback is proposed.The pure pursuit algorithm and the front wheel feedback control algorithm were used for feedforward and feedback respectively to solve the front wheel angle.The fuzzy control was adopted,with lateral deviation and directional deviation as input and weight factor as output.The ratio of two front wheel angles were allocate according to the weight factor.The simulation results show that the proposed control method can effectively improve the path tracking performance compared with the fixed weight factor model and the model cited in the literature.

关 键 词：纯追踪 前轮反馈控制 路径跟踪 权重因子 模糊控制 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术] U461.91[机械工程—车辆工程]