重庆理工大学学报2025，Vol.39Issue(19)：28-37,10.DOI:10.3969/j.issn.1674-8425(z).2025.10.004
自平衡智能摩托车的路径跟踪与稳定性综合控制
Integrated path tracking and stability control for self-balancing intelligent motorcycles
摘要
Abstract
To better coordinate the tracking accuracy and driving stability in the path tracking control of intelligent motorcycles,this paper designs an integrated control system that adapts to low-speed stable driving and high-speed emergency obstacle avoidance.Based on the three-degree-of-freedom vehicle dynamics model,the relationship between the front wheel turning angle and the lateral inclination angle is built.A controller applicable to the motorcycle steering system is designed according to the theory of active disturbance rejection control(ADRC).A control method based on the generalized proportional integral(GPI)observer is utilized to realize the stable control of the smart motorcycle at different forward speeds.Moreover,all-wheel drive(AWD)and controllable torque are introduced to further improve the stability of the smart motorcycle.Simulation results of low-speed anti-interference driving and high-speed obstacle avoidance show the control system with the combination of AWD,steering control and controllable torque effectively enhances vehicles'stability.Compared with the baseline system that only employs steering control and rear-wheel drive,the proposed integrated control system effectively resists the external interference in low-speed driving to ensure superior tracking accuracy and stability.In high-speed obstacle avoidance scenarios,the system's highest passing speed is achieved with AWDand controllable torque,increasing by 47.3%.关键词
智能摩托车/自平衡控制/自抗扰控制/全驱动/可控力矩/路径跟踪Key words
intelligent motorcycles/self-balancing control/ADRC/AWD/controllable torque/path tracking分类
信息技术与安全科学引用本文复制引用
来飞,余鑫,刘涛..自平衡智能摩托车的路径跟踪与稳定性综合控制[J].重庆理工大学学报,2025,39(19):28-37,10.基金项目
国家自然科学基金面上项目(52472400) （52472400）
重庆市自然科学基金面上项目(CSTB2024NSCQ-MSX0493) （CSTB2024NSCQ-MSX0493）
重庆市教育委员会科学技术研究计划资助项目(KJZD-K202404001) （KJZD-K202404001）
