主动避撞纵向动力学模型及控制策略研究

发布时间：2018-07-09 10:17

本文选题：主动避撞 + 纵向动力学模型　；参考：《江苏大学》2016年硕士论文

【摘要】：汽车工业的飞速发展给人们生活带来方便,同时每年也会造成大量的交通事故,产生巨大的经济损失。所以,主动避撞问题越来越受到人们的重视,由于主动避撞动力学系统的复杂性和非线性,所建立的模型存在大量的不确定性,导致传统的控制方法很难保证实际行驶过程中的鲁棒性能。针对此问题,本文提出了一种新型主动避撞纵向动力学摄动模型,并基于μ控制理论设计节气门和制动控制器,该控制器能有效抑制参数摄动和外界干扰对系统的影响,有较好的鲁棒性。首先,在现有的主动避撞系统研究成果基础上,设计主动避撞下位控制系统方案。然后,提出一种新型主动避撞纵向动力学摄动模型。该模型基于某智能车试验平台实车参数,简化其中非线性部件,考虑实际行驶过程中参数摄动对系统的影响,并在不同工况下对该模型进行仿真验证。结果表明所建立的纵向动力学摄动模型不仅满足了简洁性的要求还具有较好的动态性能,能准确反应出不确定性对系统的影响。接着,分别以纵向动力学摄动模型制动系统和动力系统为控制对象,考虑参数摄动、外界干扰和未建模误差的影响,利用μ理论设计控制器。并在Matlab的Siμgui工具箱中,将μ控制器和标称情况下的￥H控制器进行仿真对比。仿真结果表明所设计的μ控制器在存在摄动和干扰时,具有较快的响应速度和鲁棒性,使系统有较好的控制效果。为了进一步验证设计控制器的有效性,基于该智能车试验平台,将μ控制器与PID控制器进行实车试验。试验结果显示,本文所设计的μ控制器在实际应用过程中具有较强的鲁棒性,为以后更好的解决由于参数摄动和模型不确定性导致主动避撞纵向动力学控制系统性能降低问题提供了参考。
[Abstract]:The rapid development of automobile industry brings convenience to people's life, at the same time, it also causes a large number of traffic accidents every year, resulting in huge economic losses. Therefore, people pay more and more attention to active collision avoidance. Because of the complexity and nonlinearity of dynamic system of active collision avoidance, the established model has a lot of uncertainties. Therefore, it is difficult for the traditional control methods to ensure the robust performance in the actual driving process. To solve this problem, a new dynamic perturbation model for active collision avoidance is proposed, and throttle and brake controllers are designed based on 渭 control theory. The controller can effectively suppress the effects of parameter perturbation and external disturbance on the system. It has good robustness. Firstly, based on the research results of active collision avoidance system, the scheme of active collision avoidance control system is designed. Then, a new dynamic perturbation model for active collision avoidance is proposed. The model is based on the real vehicle parameters of an intelligent vehicle test platform, simplifies the nonlinear components in the model, and considers the effect of parameter perturbation on the system in the actual driving process. The model is verified by simulation under different working conditions. The results show that the established longitudinal dynamic perturbation model not only meets the requirements of simplicity but also has better dynamic performance and can accurately reflect the influence of uncertainty on the system. Then, taking the longitudinal dynamic perturbation model braking system and the power system as control objects, considering the effects of parameter perturbation, external disturbance and unmodeled error, the controller is designed by using 渭 theory. In the Si 渭 gui toolbox of Matlab, the 渭 controller is compared with the H controller in nominal condition. The simulation results show that the designed 渭 controller has fast response speed and robustness in the presence of perturbation and disturbance, so that the system has a better control effect. In order to further verify the effectiveness of the designed controller, based on the intelligent vehicle test platform, the 渭 controller and the pid controller are tested. The experimental results show that the 渭 controller designed in this paper is robust in practical application. It provides a reference for solving the problem of longitudinal dynamic control system of active collision avoidance caused by parameter perturbation and model uncertainty in the future.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U467.14

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