基于U-K理论的家用智能车控制*

doi:10.19562/j.chinasae.qcgc.2020.09.019

Abstract

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

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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Control of Home Intelligent Vehicle Based on Udwadia-Kalaba Theory

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