机械科学与技术2025，Vol.44Issue(1)：109-116,8.DOI:10.13433/j.cnki.1003-8728.20230152
分布式无人车路径跟踪的行驶稳定性控制方法
Stability Control of Distributed Unmanned Vehicle Path Tracking
摘要
Abstract
Aiming at the multi-objective control problem of tracking effect and vehicle stability in distributed unmanned vehicle path tracking process,a coordinated control strategy based on hierarchical control theory was proposed and studied.The strategy adopts a two-layer control framework.In the upper control framework,MPC based path tracking controller and adaptive fuzzy PID based yaw torque controller are designed,and the weight switching function is used to coordinate the two control outputs,which can reduce the lateral deviation of path tracking and ensure the vehicle has good response characteristics.In lower level control,designed based on the stability of slip rate control and four wheel torque optimal allocation based on deterministic torque,used to perform the upper controller to calculate the control demand,avoid empty car sideslip and precision meet the unmanned vehicle demand the yawing moment of the architecture,to ensure the stability of unmanned vehicle driving.The effectiveness of the proposed control strategy is verified by simulation and real vehicle test in CarSim/Simulink.关键词
分布式无人车/路径跟踪/自适应模糊PID/稳定性控制Key words
distributed unmanned vehicle/path tracking/adaptive fuzzy PID/stability control分类
矿业与冶金引用本文复制引用
周枫林,陈腾飞,游雨龙,王瑾元,汤迎红..分布式无人车路径跟踪的行驶稳定性控制方法[J].机械科学与技术,2025,44(1):109-116,8.基金项目
国家自然科学基金项目(11602082)与湖南省自然科学基金项目(2021JJ30211) （11602082）
