基于U-K理论的家用智能车控制*

doi:10.19562/j.chinasae.qcgc.2020.09.019

汽车工程 ›› 2020, Vol. 42 ›› Issue (9): 1277-1283.doi: 10.19562/j.chinasae.qcgc.2020.09.019

基于U-K理论的家用智能车控制^*

赵雅婷^1,3, 孙浩², 陈小龙², 吴其林²

1.合肥工业大学管理学院,合肥 230009;
2.合肥工业大学机械工程学院,合肥 230009;
3.合肥师范学院经济管理学院,合肥 230601

出版日期:2020-09-25 发布日期:2020-10-19
通讯作者: 孙浩,讲师,博士,E-mail:sunhao.0806@163.com
基金资助:
*安徽省自然科学基金青年项目(1908085QE194)资助。

Control of Home Intelligent Vehicle Based on Udwadia-Kalaba Theory

Zhao Yating^1,3, Sun Hao², Chen Xiaolong², Wu Qilin²

1. School of Management, Hefei University of Technology, Hefei 230009;
2. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009;
3. School of Economic and Management, Hefei Normal University, Hefei 230601

Online:2020-09-25 Published:2020-10-19

摘要/Abstract

摘要： 针对智能车这类复杂的非完整约束机电系统的建模与控制,提出一种基于Udwadia-Kalaba理论和Udwadia控制框架的分类建模与控制方法。该方法包含被动约束和伺服约束两个部分,前者解决了基于Udwadia-Kalaba理论系统模型中的非完整约束问题,后者解决了基于Udwadia控制的系统近似轨迹跟踪控制问题。本文中将该方法应用于家用智能车系统,建立了较为精确的动力学模型和控制系统,并通过对电机的试验与仿真分析,验证了此种分类建模与控制方法的有效性。

关键词: 智能车, Udwadia-Kalaba理论, 动力学, 非完整约束, 分类建模方法

Abstract: For the modeling and control of complex electromechanical system with nonholonomic constraints such as intelligent vehicles, a classification modeling and control method based on the Udwadia-Kalaba theory and the Udwadia control framework is proposed. The method consists of two parts, i.e. passive constraint and servo constraint. The former solves the problem of nonholonomic constraints in the system model based on Udwadia-Kalaba theory. The latter solves the problem of approximate trajectory tracking control based on Udwadia control. The method is applied to the home intelligent vehicle system, and an accurate dynamic model and control system is established. The effectiveness of the classification modeling and control method is verified by the test and simulation analysis of the motor

Key words: intelligent vehicle, Udwadia-Kalaba theory, dynamics, nonholonomic constraint, classification modeling method

赵雅婷, 孙浩, 陈小龙, 吴其林. 基于U-K理论的家用智能车控制^*[J]. 汽车工程, 2020, 42(9): 1277-1283.

Zhao Yating, Sun Hao, Chen Xiaolong, Wu Qilin. Control of Home Intelligent Vehicle Based on Udwadia-Kalaba Theory[J]. Automotive Engineering, 2020, 42(9): 1277-1283.

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基于U-K理论的家用智能车控制^*

Control of Home Intelligent Vehicle Based on Udwadia-Kalaba Theory

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