|
|||||
|
|
| 一种新的智能避障转向控制方法 | |
| 引用本文： | 辛江慧,李舜酩,沈垣. 一种新的智能避障转向控制方法[J]. 传感器与微系统, 2009, 28(3): 63-66 |
| 作者姓名： | 辛江慧 李舜酩 沈垣 |
| 作者单位： | 南京航空航天大学,能源与动力学院,江苏,南京,210016 |
| 基金项目： | 国家自然科学基金，江苏省自然科学基金 |
| 摘 要： | 针对智能探测车的转向系统建立精确的数学模型十分困难，且其航向受诸多因素干扰问题，研究了预测控制中的动态矩阵法，提出了一种新的智能探测车转向机构模型。该方法用障碍物的方向和距离偏差作为参数，在预测控制算法中采用动态矩阵控制，输出前轮转向角。再将转向角预测量与实际转向角之和作为反馈，对转向角变化趋势做出预测。通过仿真验证了在不同纵向速度下，加入相同干扰时的系统响应。结果表明：该算法在智能探测车障碍物避让控制中，对外界环境的干扰具有较强的鲁棒性，能够满足智能探测车转向控制要求。 |
| 关 键 词： | 障碍物避让 转向控制 预测控制 智能探测车 |
Novel approach on smart steering control of obstacle avoidance |
|
| XIN Jiang-hui,LI Shun-ming,SHEN Huan. Novel approach on smart steering control of obstacle avoidance[J]. Transducer and Microsystem Technology, 2009, 28(3): 63-66 | |
| Authors: | XIN Jiang-hui LI Shun-ming SHEN Huan |
| Affiliation: | Huan ( College of Energy and Power Engineering, Nanjing University of Aeronauticsand Astronautics, Nanjing 210016, China) |
| Abstract: | Aimd at the steering system of intelligent vehicle,the accurate mathematical model of the control system can hardly be constructed and disturbance of some factors is got.The dynamic matrix control is studied.The turning framework model of intelligent vehicle is proposed.The direction and the distance of obstacles are adopted as parameters of input,and output is turning angle.Forecast of turning angle and actual turning angle are acted as the feedback,and the change trend of turning angle is predicted.The response of the system is simulated and calculated in different velocity which the same disturbance is added.The result shows that this method has robustness to the interferer and it has good future in the engineering applications. |
| Keywords: | obstacle avoidance steering control predictive control intelligent vehicle |
| 本文献已被 维普 万方数据 等数据库收录！ | |