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汽车安全与节能学报 ›› 2024, Vol. 15 ›› Issue (1): 111-120.DOI: 10.3969/j.issn.1674-8484.2024.01.012

• 智能驾驶与智慧交通 • 上一篇    下一篇

基于多胞体系统的FWID EV鲁棒加权增益调度轨迹跟踪控制

李志文(), 焦晓红(), 张婷   

  1. 燕山大学 电气工程学院,秦皇岛 066004,中国
  • 收稿日期:2023-04-18 修回日期:2023-12-06 出版日期:2024-02-29 发布日期:2024-02-29
  • 通讯作者: *焦晓红(1966—),教授。E-mail:jiaoxh@ysu.edu.cn
  • 作者简介:李志文(1995—),男(汉),河北,硕士研究生。E-mail:496057272@qq.com
  • 基金资助:
    国家自然科学基金项目(61973265)

FWID EV robust weighted gain-scheduling trajectory tracking control based on polytope system

LI Zhiwen(), JIAO Xiaohong(), ZHANG Ting   

  1. School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
  • Received:2023-04-18 Revised:2023-12-06 Online:2024-02-29 Published:2024-02-29

摘要:

为了提高四轮独立驱动电动汽车(FWID EV)轨迹跟踪控制性能,针对车辆横向运动系统的不确定性与非线性问题,考虑转向执行机构的动态特性,提出了基于线性变参数(LPV)的鲁棒加权增益调度轨迹跟踪控制策略。首先利用凸分解技术将LPV系统转化为有限多胞顶点凸组合的多胞体系统,然后基于离线设计的每个多胞顶点控制器和线性组合在线计算任意时变参数对应的系统控制器参数,并利用MATLAB和CarSim进行联合仿真。结果表明:在加速变道场景下,所设计的控制器可以保证横向偏移误差不超过2 cm,横向偏移平均绝对误差不超过0.9 cm的较高跟踪精度及行驶稳定性和鲁棒性。

关键词: 四轮独立驱动电动汽车(FWID EV), 轨迹跟踪控制, 线性变参数(LPV), 加权增益调度

Abstract:

Aiming at uncertainty and nonlinearity of the lateral motion system of four-wheel independent drive electric vehicle (FWID EV) and considering the dynamic characteristics of the steering actuator, a robust weighted gain-scheduling trajectory tracking control strategy was proposed based on the linear parameter-varying (LPV) to improve the performance of trajectory tracking control. Firstly, the LPV system was transformed into a polytope system composed of a finite number of polytope vertices using convex decomposition technology. Then, the system controller parameters corresponding to any time-varying parameters were calculated online by the offline-designed controller of each polytope vertex and established linear combination, and co-simulation was carried out using MATLAB and CarSim Simulation. The results show that in the accelerated lane change scenario, the designed controller can ensure high tracking accuracy with the lateral offset error not exceed 2 cm and the average absolute error of lateral offset not exceed 0.9 cm, and driving stability and robustness.

Key words: four-wheel independent drive electric vehicles, trajectory tracking control, linear parameter-varying, weighted gain-scheduling

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