| 基于滑膜控制的半挂汽车自动倒车路径跟踪 |
| |
| 引用本文： | 张培培,杨自栋,赵相君.基于滑膜控制的半挂汽车自动倒车路径跟踪[J].汽车实用技术,2021,46(2):31-34. |
| |
| 作者姓名： | 张培培 杨自栋 赵相君 |
| |
| 作者单位： | 浙江农林大学工程学院,浙江 杭州 311300;浙江农林大学工程学院,浙江 杭州 311300;浙江农林大学工程学院,浙江 杭州 311300 |
| |
| 基金项目： | 浙江省公益技术研究项目(2017C32070)。 |
| |
| 摘 要： | 文章针对半挂汽车倒车时的跟踪控制问题进行了研究,建立了该系统在卡迪尔坐标系下的车辆非线性运动模型.为了简化求解过程,通过准确线性变换方法对建立的系统进行了线性化,设计了滑膜变结构控制器,基于Ackermann公式进行极点配置选取控制参数,最后对直线倒车路线的跟踪控制进行了仿真分析.仿真结构表明:设计的反馈控制器能改善半...
|
| 关 键 词： | 半挂汽车 滑膜变结构控制 倒车 模型跟踪 |
Backward Path Tracking Control for Tractor-Trailer SystemBased on Sliding Model Control |
| |
| Authors: | Zhang Peipei Yang Zidong Zhao Xiangjun |
| |
| Institution: | (School of Engineering,Zhejiang Agriculture and Forestry University,Zhejiang Hangzhou 311300) |
| |
| Abstract: | This paper presents a backward path tracking control of a tractor-trailer system in the presence of model uncertainties.The position of the trailer is controlled by steering the tractor.Since tractor-trailer system has a nonlinear multi-input and multi-output model with strong couplings,accurate linearization algorithm is employed to overcome unknown nonlinearities and uncertain parameters.The kinematic model of a tractor-trailer system is developed.Sliding mode variable structure control is employed for the linearized tractor-trailer system.To determine the poles to obtain the transition performances preserving the system stability,Ackerman’s formula is used to improve traditional pole placement algorithm and further design the control law.Then the path tracking algorithm controls the system to follow a straight path in real time.Finally,simulation results suggest that the simulated tractor-trailer system’s tracking path is smooth and almost identical to the reference path. |
| |
| Keywords: | Tractor-trailer system Sliding model variable structure control Straight backward driving Path tracking |
| 本文献已被 维普 万方数据 等数据库收录！ |
|
