考虑变论域模糊转角补偿和网络时滞的智能车辆路径跟踪控制  

Intelligent Vehicle Path Tracking Control Considering Variable Universe Fuzzy Steering Angle Compensation and Network Time Delay

作　　者：章杰 林华 高建杰[3] 周星星 周军超 ZHANG Jie;LIN Hua;GAO Jianjie;ZHOU Xingxing;ZHOU Junchao(College of Automotive and Mechanical Engineering,Changsha University of Science and Technology,Changsha 410114,Hunan,China;College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,Hunan,China;Intelligent Policing Key Laboratory of Sichuan Province,Sichuan Police College,Luzhou 646000,Sichuan,China;Research Institute of Facility Agriculture,Guangdong Academy of Agricultural Sciences,Guangzhou 510640,Guangdong,China;School of Mechanical Engineering,Sichuan University of Science and Engineering,Zigong 643000,Sichuan,China)

机构地区：[1]长沙理工大学汽车与机械工程学院,湖南长沙410114 [2]湖南大学机械与运载工程学院,湖南长沙410082 [3]四川警察学院智能警务四川省重点实验室,四川泸州646000 [4]广东省农业科学院设施农业研究所,广东广州510640 [5]四川轻化工大学机械工程学院,四川自贡643000

出　　处：《重庆交通大学学报（自然科学版）》2024年第11期103-113,共11页Journal of Chongqing Jiaotong University(Natural Science)

基　　金：智能警务四川省重点实验室开放课题资助项目(ZNJW2023KFQN005)。

摘　　要：在智能车辆路径跟踪控制系统中,网络时滞会直接影响控制器的控制性能,降低车辆行驶稳定性。同时,智能车辆路径跟踪控制通常未考虑未来道路曲率和期望车速信息,导致控制精度较差。为提高智能车辆在路径跟踪时的稳定性和控制精度,针对存在网络时滞的智能车辆路径跟踪控制系统,设计了含有时滞控制的状态反馈控制器,并提出了基于变论域模糊控制的前馈转角补偿控制器设计方法。首先,运用Frenet坐标系原理完成了智能车辆运动学和三自由度动力学建模,同时针对系统存在的时变参数,采用T-S模糊方法进行模型线性化;其次,针对控制器输入端存在的网络传输时滞,设计了包含时滞控制的H∞状态反馈控制器;最后,为提高转向控制精度,以车速和道路曲率为输入,设计了变论域模糊控制进行前馈转角补偿。结果表明:相比于传统控制方法,通过对传输时滞进行控制,并加入变论域前馈模糊转角补偿,能够提高车辆在时滞存在条件下的路径跟踪控制稳定性和控制精度,实现较好的路径跟随效果。In intelligent vehicle path tracking control system,the network time delay will directly affect the control performance of the controller and reduce the stability of vehicle driving.Meanwhile,the intelligent vehicle path tracking control usually does not consider the future road curvature and expected speed information,resulting in poor control accuracy.To improve the stability and control accuracy of intelligent vehicles in path tracking,a state feedback controller with time delay control was designed for intelligent vehicle path tracking control systems with network time delay,and a design method for feedforward steering angle compensation controller based on variable universe fuzzy control was proposed.Firstly,the Frenet coordinate system principle was applied to complete the kinematic and three degree of freedom dynamic modeling of intelligent vehicles,meanwhile,a T-S fuzzy method was used to linearize the model for the time-varying parameters of the system.Secondly,an H∞state feedback controller with time delay control was designed to handle with the network transmission delay existing in the controller input.Finally,in order to improve the accuracy of steering control,a variable universe fuzzy control was designed with vehicle speed and road curvature as inputs for feedforward steering angle compensation.The results show that compared with the traditional control method,the proposed control method can improve the stability and control accuracy of vehicle path tracking control under the condition of time delay and achieve the better path following performance,by controlling the transmission delay and incorporating variable universe feedforward fuzzy steering angle compensation.

关 键 词：车辆工程 路径跟踪控制 时滞 鲁棒控制 变论域 模糊控制 

分 类 号：U461.1[机械工程—车辆工程]