爆胎车辆轨迹控制的仿真

发布时间：2018-04-27 05:07

本文选题：爆胎 + 轨迹控制　；参考：《北京工业大学学报》2016年08期

【摘要】：为了解决高速公路爆胎车辆出现偏航的问题,进行了爆胎车辆轨迹控制的仿真研究.首先确定了爆胎车辆轨迹控制的评价指标,然后讨论了静态比例、积分、微分(proportion integration differentiation,PID)控制器对高速公路爆胎车辆轨迹的控制效果.由于在某一行驶车速下建立的静态PID控制器不能很好地控制行驶在其他车速下的爆胎车辆,因此,采用了增益可变PID控制器处理爆胎车辆的轨迹控制问题,其中变增益PID控制器的参数是事先针对不同的爆胎车速标定获得的.仿真实验结果表明:变增益PID控制方案应用于爆胎车辆轨迹控制,可在保证车辆稳定行驶的同时控制车辆的行驶轨迹,使其在出现较小的偏移后回到原路径.
[Abstract]:In order to solve the yaw problem of tire-burst vehicle on highway, the simulation research on trajectory control of tire-burst vehicle was carried out. The evaluation index of vehicle trajectory control is determined, and the control effect of static proportion, integral and differential proportion integration differentiation controller on the track of tire burst vehicle is discussed. Because the static PID controller established at one speed can not control the tire burst vehicle running at other speed, the gain variable PID controller is used to deal with the trajectory control problem of the tire burst vehicle. The parameters of the variable gain PID controller are calibrated for different tire speed in advance. The simulation results show that the variable gain PID control scheme can be applied to the trajectory control of the tire burst vehicle, which can not only ensure the stable running of the vehicle, but also control the track of the vehicle, so that the vehicle can return to the original path after a small deviation.
【作者单位】：吉林大学汽车仿真与控制国家重点实验室;吉林大学通信工程学院;
【基金】：国家“973”计划资助项目(2012CB821202) 国家自然科学基金资助项目(61573165);国家自然科学基金国际合作与交流重点项目(61520106008)
【分类号】：U461.6

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