汽车变曲率路径循迹H_(∞)回路成形鲁棒控制  

H_(∞)loop shaping robust control of vehicle tracking on variable curvature curve

作　　者：常胜 刘宏飞[2] 邹乃威 CHANG Sheng;LIU Hong-fei;ZOU Nai-wei(School of Automotive Engineering,Changshu Institute of Technology,Suzhou 215500,China;College of Transportation,Jilin University,Changchun 130022,China;College of Mechanical Engineering,Ningbo University of Technology,Ningbo 315336,China)

机构地区：[1]常熟理工学院汽车工程学院,江苏苏州215500 [2]吉林大学交通学院,长春130022 [3]宁波工程学院机械工程学院,浙江宁波315336

出　　处：《吉林大学学报（工学版）》2024年第8期2141-2148,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(51775241).

摘　　要：针对汽车曲线行驶时曲率半径改变更易引起车辆偏离预定轨迹的问题,提出了一种基于H∞回路成形的鲁棒控制方法以提高汽车轨迹跟踪性能。首先,对汽车动力学模型进行处理,使模型具备广义干扰控制系统形态,利用传递函数运算间接求解获得所需的输出变量;其次,选定标称受控对象给出标称条件,据此设计鲁棒控制器使闭环系统各反馈回路获得理想的奇异值,满足系统性能指标和鲁棒稳定性要求;最后,验证汽车在变曲率曲线路径上的循迹能力。结果表明:在固定鲁棒控制器作用下汽车具备稳定的抗干扰能力,当系统参数在合理范围内变化时,汽车行驶的横向偏差量均控制在0.2 m以内。To solve the problem of vehicle deviate from the planned trajectory caused by the changing radius of curvature of the route,a robust control approach based on H∞loop shaping is proposed to improve the automated trajectory tracking performance.Firstly,the vehicle dynamics model is analyzed and processed to provide the generalized interference control system form,and then the function operation of transfer is used to indirectly obtain the required output variables.Secondly,the nominal plant is selected and the nominal condition is given,the system singular values of the plants can obtain desired shapes based on the robust controller and thus can meet the system performance index and robust stability requirements.Finally,the automated tracking ability of the vehicle on the variable curvature paths is tested.The results show that the vehicle has a stable anti-interference ability under the action of fixed order robust controller,when parameters change within a reasonable range,the lateral error of the vehicle can be controlled within 0.2 m,the goal of good automated tracking performance in multi-curvature routes of the vehicle has realized.Therefore,this control method has a widely potential applications prospect and is suitable for the development of intelligent vehicle path tracking lateral control and autonomous vehicle lane keeping control.

关 键 词：车辆工程 变曲率曲线 路径循迹 H_(∞)回路成形 

分 类 号：U461.6[机械工程—车辆工程]