FSAC赛车轨迹跟踪协同控制策略研究  

Research on Trajectory Tracking Control Strategy for FSAC Racing Car

作　　者：张志强 李刚[1] 李宁[1] 田甜 白鸿飞[1] ZHANG Zhiqiang;LI Gang;LI Ning;TIAN Tian;BAI Hongfei(School of Automobile and Traffic Engineering,Liaoning University of Technology,Jinzhou 121001,Liaoning,China)

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001

出　　处：《汽车工程学报》2023年第5期750-759,共10页Chinese Journal of Automotive Engineering

基　　金：国家自然科学基金联合基金项目(U22A2043);辽宁省科技厅面上项目(2022-MS-376)。

摘　　要：针对中国大学生方程式赛车(FSAC)在比赛中横向-纵向协同控制的轨迹跟踪精度和稳定性问题,根据现代控制理论和经典控制理论提出一种以纵向速度为结合点的线性二次控制器(LQR)和比例-积分-微分算法(PID)的横纵向协同控制策略,并根据赛车相对参考轨迹的位置设计了一种协同控制器。建立二自由度车辆动力学模型,基于该模型设计了横向LQR位置跟踪控制器和纵向PID速度跟踪控制器。所设计的控制策略在CarSim和Simulink搭建的循迹工况联合仿真场景下进行仿真验证,仿真结果为纵向位置偏差小于0.07 m,横向位置偏差小于0.03 m。对控制算法进行实车验证,结果表明,该策略有效提高了赛车的轨迹跟踪精度和行驶稳定性。Aiming at the trajectory tracking accuracy and stability challenges of transverse-longitudinal cooperative control in the Formula Student Autonomous China(FSAC) races,the paper proposed a transverse-longitudinal cooperative control strategy based on both modern and classical control theories.This strategy integrates a linear quadratic controller(LQR) with a proportional-integral-derivative(PID)algorithm using longitudinal velocity as the binding point.And a cooperative controller was designed according to the position of the racing car relative to the reference trajectory.A two-degree-of-freedom vehicle dynamics model was established,based on which a transverse LQR position tracking controller and a longitudinal PID speed tracking controller were designed.The proposed control strategy was validated through a joint simulation scenario built with CarSim and Simulink for tracking conditions.The experimental results indicated that the longitudinal position deviation was less than 0.07 m and the lateral position deviation was less than 0.03 m.The control algorithm was tested in a real vehicle and the results show that it effectively improves the trajectory tracking accuracy and driving stability of the racing car.

关 键 词：无人驾驶方程式 轨迹跟踪 横向控制 纵向控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]