基于动力学模型预测控制的铰接车辆多点预瞄路径跟踪方法

doi:10.19562/j.chinasae.qcgc.2021.08.009

Abstract

Abstract:

The existing path tracking control methods have large errors in the process of model linearization and preview， which leads to reduction of tracking accuracy. For path tracking control of articulated vehicles， a dynamic model of articulated vehicles is established.The model is linearized based on state trajectories so that the linearization error can be compensated， and the control target considering path multipoint preview errors is proposed. The model predictive controller based on the dynamic model is constructed to optimize the steering torque at the hinge point. To verify the effectiveness of the method， the joint simulation platform by Matlab/Simulink and Adams software is built for control verification by conducting simulation experiments. The results show that the controller designed can effectively improve path tracking accuracy for articulated vehicles.

Key words: articulated vehicles, path tracking, model predictive control, dynamic modeling

Sixu Li,Biao Xu,Manjiang Hu,Yougang Bian,Xiaolong Sun Ning Chen. A Dynamic Model Predictive Control Approach for Multipoint Preview Path Tracking of Articulated Vehicles[J].Automotive Engineering, 2021, 43(8): 1187-1194.

Figures/Tables 12

参数	数值	参数	数值
a/m	1.071	$m 1$ /kg	15 749
b/m	1.852	$m 2$ /kg	24 628
e/m	3.453	$I 1 ?$ / （kg $? m 2)$	73 826
f/m	0.999	$I 2 ?$ / （kg $? m 2)$	1 091 998

References 18

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A Dynamic Model Predictive Control Approach for Multipoint Preview Path Tracking of Articulated Vehicles

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