基于动力学解耦的紧急工况循迹跟踪控制研究  

Research on Emergency Trajectory Tracking Control Based on Dynamics Decoupling

作　　者：余颖弘 黄利 李以农[2] 郑玲[2] 周佳[1] 梁艺潇 Yu Yinghong;Huang Li;Li Yinong;Zheng Ling;Zhou Jia;Liang Yixiao(China Automotive Engineering Research Institute Co.,Ltd.,Chongqing 401122;College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400044)

机构地区：[1]中国汽车工程研究院股份有限公司,重庆401122 [2]重庆大学机械与运载工程学院,重庆400044

出　　处：《汽车工程》2023年第6期997-1009,共13页Automotive Engineering

基　　金：国家重点研发计划项目(2017YFB0102603-3);国家自然科学基金面上项目(51875061)资助。

摘　　要：针对紧急工况下车辆纵横向动力学耦合导致传统轨迹跟踪方法精度下降的问题,提出解耦循迹跟踪算法,该算法在利用动力学解耦消减耦合负效应的基础上,通过跟踪车辆目标运动状态实现运动轨迹的间接跟踪。首先,基于理论推导与仿真,探究了车辆纵横向动力学耦合成因及其对循迹跟踪精度的影响;然后,通过修正传统3自由度车辆动力学逆系统构型确定其接口,利用随机数据集训练反馈前向神经网络(BPNN)模型以获取车辆平面运动逆系统;最后,设计基于目标运动轨迹的目标运动状态逆解算模型与基于纯跟踪思想的目标轨迹修正模型,将逆系统解耦方法应用于长航程循迹跟踪任务中。仿真与实验结果说明解耦循迹跟踪作为一种全新的跟踪方法,不仅可以完成跟踪任务,且通过与传统循迹跟踪方法对比,在耦合工况下所提出的方法具备更高的跟踪精度。For the problem that the accuracy of the traditional trajectory tracking method decreases due to the longitudinal and lateral dynamic coupling of the vehicle under emergency working conditions,a decoupling tracking algorithm is proposed,which realizes the indirect tracking of the motion trajectory by tracking the target mo‐tion state of the vehicle on the basis of reduction of the negative coupling effect by the dynamic decoupling.Firstly,based on theoretical derivation and simulation experiments,the causes of vehicle longitudinal and lateral dynamics coupling and its influence on tracking accuracy are explored.Then,by modifying the configuration of the traditional three-degree-of-freedom vehicle dynamics inverse system,the interface is determined,and the feedback forward neural network(BPNN)model is trained with a random dataset to obtain the vehicle plane motion inverse system.Finally,the target motion state inverse solution model based on target motion trajectory and the target trajectory cor‐rection model based on pure tracking idea are designed,and the inverse system decoupling method is applied to the long-range tracking task.Simulation and experimental results show that decoupling tracking as a new tracking meth‐od can not only complete the tracking task,but also have higher tracking accuracy under coupling conditions com‐pared with the traditional tracking method.

关 键 词：紧急工况 逆系统 动力学耦合 循迹跟踪 解耦 

分 类 号：U463.6[机械工程—车辆工程]