面向无人驾驶的三轴应急救援车辆并行控制方法.pdfVIP

第36卷第9期 电子测量与仪器学报 Vol.36 No.9 72 MEASUREMENTANDINSTRUMENTATION 2022年9月 JOURNALOFELECTRONIC DOI：10. emi.B2205561 面向无人驾驶的三轴应急救援车辆并行控制方法* 陈特蔡英凤 陈龙徐兴 （江苏大学汽车工程研究院镇江 212013 ） 摘要：为实现应急救援车辆轨迹跟踪和横向稳定的优化协调，提出了一种基于哈密顿函数的车辆非线性并行控制方法。分别 建立了车辆动力学模型和轨迹跟踪模型，通过模型变换将车辆动力学模型和轨迹跟踪模型表示为具有相同控制输人的状态方 程，从而将轨迹跟踪和横向稳定协调控制问题转化为一类非线性并行控制问题，分别设计了轨迹跟踪控制和横向稳定性控制的 哈密顿函数，讨论并证明了基于车辆特性的控制器设计存在条件，提出了一种兼顾应急救援车辆轨迹跟踪和横向稳定控制性能 的非线性并行控制方法，并证明了控制系统稳定性。结果表明，并行控制下的轨迹跟踪精度和稳定性控制精度分别提升了 10.13%和13.79%，从而验证所设计方法能够更好地实现应急救援车辆轨迹跟踪和横向稳定的协调控制。 关键词：应急救援车辆；并行控制；车辆稳定性；轨迹跟踪 中图分类号：U461.1;TP273 文献标识码：A 国家标准学科分类代码：510.8060 Parallel control method for unmanned driving of three-axis emergency rescue vehicle Chen TeCai Yingfeng Chen Long gXuXing (Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China) Abstract: In order to realize the optimal coordination of trajectory tracking and lateral stability of emergency rescue vehicles, a vehicle nonlinear parallel control method based on Hamiltonian function is proposed. The vehicle dynamics model and trajectory tracking model are established respectively, the vehicle dynamics model and trajectory tracking model are expressed as state equations with the same control input through model transformation, thus, the trajectory tracking and lateral stability coordinated control problem is transformed into a class of nonlinear parallel control problem. The Hamiltonian functions of trajectory tracking control and lateral stability control are designed respectively, and the existence conditions of controller design based o