| 自动转向滑模变结构控制参数选取方法 |
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| 引用本文： | 赵熙俊,刘海鸥,熊光明,龚建伟,陈慧岩.自动转向滑模变结构控制参数选取方法[J].北京理工大学学报,2011,31(10):1174-1178. |
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| 作者姓名： | 赵熙俊 刘海鸥 熊光明 龚建伟 陈慧岩 |
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| 作者单位： | 北京理工大学机械与车辆学院,北京,100081 |
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| 基金项目： | 国家自然科学基金资助项目(90920304) |
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| 摘 要： | 建立了基于车辆动力学模型的车辆-道路系统模型,通过线性变换,得到了用横向位置偏差和方向偏差描述的系统状态方程.采用滑模变结构控制理论,设计了基于指数趋近律的自动转向控制算法.分析了趋近律函数的指数趋近项参数和等速趋近项参数对系统输出的影响,并基于侧向加速度的要求提出了参数选取方法.仿真结果表明,根据提出的参数选取方法设计的控制算法在高速路径跟踪时,具有良好的道路跟踪精度及动态性能.
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| 关 键 词： | 自动转向 滑模变结构 趋近律参数 车辆控制 |
| 收稿时间： | 9/7/2010 12:00:00 AM |
Method of Parameter Selection for Automatic Steering Sliding Mode Control |
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| ZHAO Xi-jun,LIU Hai-ou,XIONG Guang-ming,GONG Jian-wei and CHEN Hui-yan.Method of Parameter Selection for Automatic Steering Sliding Mode Control[J].Journal of Beijing Institute of Technology(Natural Science Edition),2011,31(10):1174-1178. |
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| Authors: | ZHAO Xi-jun LIU Hai-ou XIONG Guang-ming GONG Jian-wei and CHEN Hui-yan |
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| Institution: | ZHAO Xi-jun,LIU Hai-ou,XIONG Guang-ming,GONG Jian-wei,CHEN Hui-yan(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | An intelligent vehicle-road model was established based on vehicle dynamics and it was transformed to an error-based equation in state space by linear transformation.According to the sliding mode variable structure control theory,the automatic steering control algorithm with exponential reaching law was proposed.Then the effect of reaching law parameters on system dynamic quality was analyzed in detail and a novel method to select the reaching law parameters was proposed.Simulation was conducted to validate... |
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| Keywords: | automatic steering sliding mode control reaching law parameters vehicle control |
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