Contribution to the integrated control synthesis of road vehicles
Contribution to the integrated control synthesis of road vehicles
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对道路车辆综合控制综合的贡献
DOI：
10.1109/87.736754
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
M. Vukobratovic
中科院分区：
文献类型：
--
作者：
A. Rodic;M. Vukobratovic
论文描述了用于自动驾驶系统综合的具有22个运动自由度的非线性车辆模型。演示了如何基于这种相对复杂的动力学模型设计控制器，保证车辆在纵向、横向和垂直方向上同时运动的稳定性，以及车辆绕相应轴的侧倾、俯仰和偏航动力学的稳定性。车辆自动控制在战术和执行两个层次上实现。提出的分布式层次控制方案能够将整个车辆动力学控制为多体动力学系统。控制的综合方式使得系统满足动态行为的设定标准。综合控制器改善了由偶然、外部扰动以及内部惯性和离心力的作用引起的系统运动，这些运动是由于行驶速度不适合道路几何形状而出现的。此外，本文还简要给出了估计动态模型的未知时变参数和轮胎-道路相互作用的必要信息。给出并分析了一个具有不平坦和湿滑道路以及阵风类型扰动的特征轨迹示例的仿真结果。
A nonlinear vehicle model with 22 motion degrees of freedom, used for synthesis of the system autopilot, was described in the paper. It was demonstrated how a controller can be designed on the basis of such relatively complex dynamic model, ensuring simultaneous motion stability of the vehicle in longitudinal, lateral and vertical directions, as well as the stability of roll, pitch, and yaw dynamics of the vehicle about corresponding axes. Vehicle automatic control was realized at two hierarchical levels: tactical and executional. Proposed scheme of the distributed hierarchy control enables control of entire vehicle dynamics as a multibody dynamic system. Control has been synthesized in such a way that the system satisfies set criteria of dynamic behavior. The synthesized controller improves system motion caused by action of casual, external perturbations, and internal inertial and centrifugal forces which appear as a consequence of an inadequately adapted ride velocity to the road geometry. Also, necessary information for estimation of unknown time-variant parameters of the dynamic model and of tire-road interaction were briefly given in the paper. Simulation results were presented and analyzed for one example of characteristic trajectory with perturbation of type of an uneven and slippery road, as well as a wind gust.