某智能接驳车自主转向系统鲁棒性控制  

Robust control of autonomous steering system of an intelligent shuttle bus

作　　者：闫兴旺 伍松[1,2] 王玉江[1,2] 罗德意 杨浩东 YAN Xingwang;WU Song;WANG Yujiang;LUO Deyi;YANG Haodong

机构地区：[1]广西科技大学机械与汽车工程学院,广西柳州545006 [2]广西科技大学广西汽车零件与整车技术重点实验室,广西柳州545006

出　　处：《现代机械》2024年第6期96-102,共7页Modern Machinery

基　　金：国家自然科学基金项目(51665006);广西汽车零部件与整车技术重点实验室自主研究课题(2017GKLACVTZZ01);广西科技重大专项(桂科AA22068101);柳州市科技计划项目(2022AAA0103)。

摘　　要：智能转向系统作为自动驾驶关键落地技术之一,影响着智能接驳车转向性能。设计了一种在原有的线控转向的基础上去掉方向盘,转而由电机直接提供转向动力,驱动转向系统转向,实现车辆的智能驾驶功能。通过建立智能接驳车自主转向系统动力学方程,构建出车辆闭环控制系统,提出考虑被控对象参数或模型发生摄动时的自适应内模控制方法。将智能接驳车转向系统模型作为被控对象,当被控过程发生改变时,通过在线更新控制器,实现对前轮转角的鲁棒性控制。仿真和实验结果表明,与常规IMC控制相比较,该方法对模型摄动具有较好的控制效果,提高了转向控制系统的自适应性,增强了智能接驳车转向系统的鲁棒性。Intelligent steering system,as one of the key landing technologies of automatic driving,affects the steering performance of the intelligent shuttle bus.A method is designed by removing the steering wheel on the basis of the original wire-controlled steering,and using the motor to directly provide steering power to drive the steering system and realize the intelligent driving function.By establishing the kinetic equations of the autonomous steering system,the closed-loop control system of the vehicle is constructed,and the adaptive internal mode control method is proposed when considering the ingestion of the parameters of the controlled object or the model.The model of the steering system is taken as the controlled object,and the robust control of the front wheel angle is realized by updating the controller online when the controlled process is changed.Simulation and experimental results show that compared with the conventional IMC control,this method has better control effect on model ingestion,improves the adaptivity of the steering control system,and enhances the robustness of the steering system of the intelligent shuttle bus.

关 键 词：智能接驳车转向系统 车辆动力学分析与建模 自适应内模控制器设计 滤波时间常数自整定 

分 类 号：U463.41[机械工程—车辆工程]