基于动力学解耦的紧急工况循迹跟踪控制研究

doi:10.19562/j.chinasae.qcgc.2023.06.010

Abstract

Abstract:

For the problem that the accuracy of the traditional trajectory tracking method decreases due to the longitudinal and lateral dynamic coupling of the vehicle under emergency working conditions， a decoupling tracking algorithm is proposed， which realizes the indirect tracking of the motion trajectory by tracking the target motion state of the vehicle on the basis of reduction of the negative coupling effect by the dynamic decoupling. Firstly， based on theoretical derivation and simulation experiments， the causes of vehicle longitudinal and lateral dynamics coupling and its influence on tracking accuracy are explored. Then， by modifying the configuration of the traditional three-degree-of-freedom vehicle dynamics inverse system， the interface is determined， and the feedback forward neural network （BPNN） model is trained with a random dataset to obtain the vehicle plane motion inverse system. Finally， the target motion state inverse solution model based on target motion trajectory and the target trajectory correction model based on pure tracking idea are designed， and the inverse system decoupling method is applied to the long-range tracking task. Simulation and experimental results show that decoupling tracking as a new tracking method can not only complete the tracking task， but also have higher tracking accuracy under coupling conditions compared with the traditional tracking method.

Key words: emergency conditions, inverse system, dynamical coupling, trajectory tracking, decoupling

Yinghong Yu,Li Huang,Yinong Li,Ling Zheng,Jia Zhou,Yixiao Liang. Research on Emergency Trajectory Tracking Control Based on Dynamics Decoupling[J].Automotive Engineering, 2023, 45(6): 997-1009.

Figures/Tables 22

控制器	最大误差/ $m$	最小误差/ $m$	均方误差/ $m 2$
解耦循迹跟踪	0.029 8	-0.030 6	0.000 3
集成式MPC	0.085 4	-0.102 4	0.001 4
协同式纯跟踪	0.038 5	-0.022 2	0.000 1

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参数	数值
整车质量	1 370 kg
质心至前轴的距离	1.11 m
质心至后轴的距离	1.67 m
空气阻力系数	0.35
前轴等效转向刚度	67 553 N·m/rad
后轴等效转向刚度	49 506 N·m/rad
横摆转动惯量	2 315.3 kg/m²

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Research on Emergency Trajectory Tracking Control Based on Dynamics Decoupling

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