| 车辆转向与驱动综合控制及横向速度观测器的设计 |
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| 引用本文： | 李以农,卢少波,杨柳.车辆转向与驱动综合控制及横向速度观测器的设计[J].汽车工程,2007,29(8):692-697. |
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| 作者姓名： | 李以农 卢少波 杨柳 |
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| 作者单位： | 1. 重庆大学机械传动国家重点实验室,重庆,400044
2. 广州本田汽车有限公司,广州,510800 |
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| 基金项目： | 国家自然科学基金;重庆市自然科学基金 |
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| 摘 要： | 为了实现复杂工况下车辆自动跟踪控制,建立了纵横向耦合车辆模型,研究了车辆在弯道变速行驶工况的动力学耦合控制问题,根据滑模控制以及动态表面控制理论,提出了一种基于车辆转向与驱动控制的综合控制器,并针对横向车速不可测,设计了横向速度观测器。仿真结果表明该综合控制器具有良好跟踪性能,在复杂工况下表现出较好的动、静态特性。
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| 关 键 词： | 车辆转向与驱动综合控制 横向速度观测器 滑模控制 动态表面控制 |
Integrated Vehicle Steering and Driving Control and the Design of Transverse Speed Observer |
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| Li Yinong,Lu Shaobo,Yang Liu.Integrated Vehicle Steering and Driving Control and the Design of Transverse Speed Observer[J].Automotive Engineering,2007,29(8):692-697. |
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| Authors: | Li Yinong Lu Shaobo Yang Liu |
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| Institution: | 1. Chongqing University, State Key Laboratory of Mechanical Transmission, Chongqing 2. Guangzhou Honda Automobile Co. Ltd , Guangzhou 510800 |
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| Abstract: | A longitudinal and transverse coupled vehicle model is established to study the vehicle dynamic coupled control under a driving condition of acceleration/deceleration on curved path.Base on the theories of sliding mode control and dynamic surface control,a vehicle steering and driving integrated controller is proposed,and in view of that the transverse speed can not be measured,a transverse speed observer is designed.A simulation is conducted and the results show that the integrated controller has good tracking performance and exhibits good dynamic and static characteristics under complicated driving conditions. |
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| Keywords: | Vehicle steering and driving integrated control Transverse speed observer Sliding mode control Dynamic surface control |
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