基于路面附着系数估计的模糊自适应轨迹跟踪控制
Research on fuzzy adaptive trajectory tracking control based on road adhesion coefficient estimation
张修伟 1陈龙 1孙桓五 1吉强2
作者信息
- 1. 太原理工大学,太原 030024
- 2. 中国煤炭科工集团太原研究院有限公司,太原 030000
- 折叠
摘要
为提高智能汽车轨迹跟踪在复杂工况环境下的控制精度和稳定性,提出了一种适应路面附着系数突变与车速动态变化的模糊自适应轨迹跟踪控制策略.建立七自由度车辆动力学模型,基于模型预测控制(model predictive control,MPC)算法设计了车辆轨迹跟踪控制器,研究了MPC控制器参数、路面附着系数、车速与车辆轨迹跟踪性能间的影响关系;为了实时获取当前道路的路面附着系数,根据dugoff轮胎模型和整车动力学模型设计了无迹卡尔曼滤波估计器;据此设计了以路面附着系数和车速为输入量的MPC控制器参数自适应模糊控制器,实时修正MPC控制器的参数,以提高复杂工况环境下车辆的稳定性及跟踪能力;通过仿真实验对所设计的控制方法进行了验证.结果表明:所提出控制方法在低速条件下保证了车辆稳定性,提高了车辆的跟踪精度;中速条件下有效克服了车辆在路面附着系数突变道路上动态行驶时轨迹跟踪精度较低,稳定性较差的不足.
Abstract
To improve the control accuracy and stability of intelligent vehicle trajectory tracking in complex working conditions,this paper proposes a fuzzy adaptive trajectory tracking control strategy that adapts to sudden changes in road adhesion coefficient and dynamic changes in vehicle speed.A seven degree of freedom vehicle dynamics model is built and a vehicle trajectory tracking controller is designed based on Model Predictive Control (MPC )algorithm.The relationship between MPC controller parameters,road adhesion coefficient,vehicle speed,and vehicle trajectory tracking performance is investigated.To obtain the road surface adhesion coefficient of the current road in real-time,an Unscented Kalman Filter estimator is designed based on the Dugoff tire model and the vehicle dynamics model.Based on this,an MPC controller parameter adaptive fuzzy controller is designed with road adhesion coefficient and vehicle speed as input variables,which adjust the parameters of the MPC controller in real time to improve the stability and tracking ability of vehicles in complex working conditions.The designed control method is validated through simulation experiments.Our results show the proposed control method ensures vehicle stability under low-speed conditions and improves vehicle tracking accuracy.Under medium speed conditions,it effectively addresses low trajectory tracking accuracy and poor stability on roads with sudden changes in road adhesion coefficient.
关键词
轨迹跟踪/路面附着系数估计/模型预测控制/模糊控制Key words
trajectory tracking/estimation of road adhesion coefficient/model predictive control/fuzzy control引用本文复制引用
基金项目
山西省科技厅项目(20210302124119)
山西省教育厅项目(2021L085)
吉林大学汽车仿真与控制国家重点实验室开放基金项目(20210218)
山西省科技厅项目(2022ZDYF019)
出版年
2024
国家科技期刊平台
NSTL
万方数据