摘要
从研究转向特性的2自由度简化模型出发,推导出智能汽车转向的状态空间方程,据此构造了智能汽车转向的动力学模型,进而应用Lyapunov方程设计了模型跟踪控制器.选用与实际汽车模型同阶的系统,采用极点配置的方法设计了理想汽车模型.通过输入不同的道路进行仿真,证明了该控制器设计的有效性.
Based on the simplified model of two degrees of freedom for automatic steering vehicle, a dynamic model was proposed and correspondingly a set of governing equations in state space were developed. By means of Lyapunov function a model following controller was designed. The ideal model, whose rank is identical with that of the vehicle model, is derived by the pole assignment. Through computer simulations for inputs of different road conditions, it is shown that the present controller is effective.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2003年第11期1763-1766,共4页
Journal of Shanghai Jiaotong University
关键词
车辆
智能转向
模型跟踪控制
Automobile steering equipment
Computer simulation
Control system analysis
Lyapunov methods
State estimation
