| 基于动力学模型的车辆转向控制器不足与变结构控制方法的研究 |
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| 引用本文： | 王荣本,马雷,刘锐,施树明.基于动力学模型的车辆转向控制器不足与变结构控制方法的研究[J].公路交通科技,2004,21(2):112-114,122. |
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| 作者姓名： | 王荣本 马雷 刘锐 施树明 |
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| 作者单位： | 1. 吉林大学交通学院,吉林,长春,130025
2. 吉林交通职业技术学院,吉林,长春,130022 |
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| 摘 要： | 本文从理论上分析了基于车辆二自由度转向动力学模型的转向控制器在低速时产生失稳的原因。为解决失稳问题,本文提出了相应的解决方法,建立了基于预瞄运动学的车辆转向控制模型,采用滑模变结构控制理论设计了车辆的转向控制器,使车辆转向控制具有良好的跟踪性能和鲁棒性。
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| 关 键 词： | 变结构控制 智能车辆 系统辨识 |
| 文章编号： | 1002-0268(2004)02-0112-03 |
Study on Vehicle Steering Controller Based on Dynamic Model and Variable Structure Control Method |
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| WANG Rong-ben,MA Lei,LIU Rui,SHI Shu-ming.Study on Vehicle Steering Controller Based on Dynamic Model and Variable Structure Control Method[J].Journal of Highway and Transportation Research and Development,2004,21(2):112-114,122. |
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| Authors: | WANG Rong-ben MA Lei LIU Rui SHI Shu-ming |
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| Institution: | WANG Rong-ben~1,MA Lei~1,LIU Rui~2,SHI Shu-ming~1 |
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| Abstract: | This paper analyses the reason for the loss of stabilization for vehicle steering controller at low speed based on two degree freedom dynamic.This paper brings up a method in order to solving the problem.A preview kinematics steering model is founded and variable structure control theory is used to design vehicle steering controller,which makes the vehicle steering control to have favorable track capability and robustness. |
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| Keywords: | Variable structure control Intelligent vehicle System identification |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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