鄧龍澤
摘 要:針對(duì)基于傳統(tǒng)滑??刂频能囕v軌跡跟蹤控制精度不高、抖動(dòng)現(xiàn)象明顯、穩(wěn)定性不高等問(wèn)題,本文設(shè)計(jì)了一種多目標(biāo)姿態(tài)/軌跡跟蹤二階滑模控制策略。以車輛二自由度動(dòng)力學(xué)模型為基礎(chǔ),搭建軌跡跟蹤誤差模型,結(jié)合滑??刂疲瑢?shí)現(xiàn)期望橫向位置和方位角的多目標(biāo)的跟蹤控制,進(jìn)而完成五次多項(xiàng)式換道軌跡的跟蹤控制,提高了軌跡跟蹤效果;并引入飽和函數(shù),消弱滑模控制的抖動(dòng)現(xiàn)象。仿真表明:在不同工況下進(jìn)行五次多項(xiàng)式換道控制,該控制器能夠消弱滑模控制的抖動(dòng)現(xiàn)象,提高軌跡跟蹤精度和穩(wěn)定性。
關(guān)鍵詞:車輛換道 滑??刂?軌跡跟蹤
Research on Tracking Control of Vehicle Lane-changing Trajectory Based on Multi-target Sliding Mode Control
Deng Longze
Abstract:For the problems of low precision, obvious jitter, and low stability of vehicle trajectory tracking control based on traditional sliding mode control, this paper designs a second-order sliding mode control strategy for multi-target attitude/trajectory tracking. Based on the vehicle's two-degree-of-freedom dynamics model, a trajectory tracking error model is built, combined with sliding mode control, to achieve multi-target tracking control of desired lateral position and azimuth angle, and then to complete the tracking control of the fifth-order polynomial lane-changing trajectory, which improves trajectory tracking effect; the paper introduces a saturation function to weaken the jitter phenomenon of sliding mode control. The simulation shows that the fifth-order polynomial lane change control under different working conditions can reduce the jitter phenomenon of sliding mode control and improve the accuracy and stability of trajectory tracking.
Key words:vehicle lane changing, sliding mode control, trajectory tracking