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山东大学学报(工学版) ›› 2010, Vol. 40 ›› Issue (1): 10-14.

• 控制科学与工程 • 上一篇    下一篇

有人驾驶AWID-AWIS车辆动力学控制研究

阮久宏 李贻斌 杨福广 荣学文   

  1. 阮久宏 李贻斌 杨福广 荣学文:山东大学机器人研究中心, 山东 济南 250061; 
    阮久宏:清华大学汽车安全与节能国家重点实验室, 北京 100084
  • 收稿日期:2009-04-16 出版日期:2010-02-16 发布日期:2009-04-16
  • 作者简介:阮久宏(1971-),男,山东济宁人,副教授,博士后,主要研究方向为先进车辆、智能机器人、能交通系统.E-mail:ruanjh@sdu.edu.cn
  • 基金资助:

    国家高技术研究发展计划(863计划)资助项目(2007AA04Z206);山东省优秀中青年科学家科研奖励基金资助项目(2008BS05003);中国博士后科学基金资助项目(20080431189);山东省教育厅科技计划项目(J07WA10);山东省教育厅高等学校优秀青年教师国内访问学者项目

On manned AWID-AWIS vehicle dynamics control

  1.  RUAN Jiu-Hong, LI Yi-Bin, YANG Fu-Guang, RONG Xue-Wen:Center for Robotics, Shandong University, Jinan 250061, China;  RUAN Jiu-Hong: State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China
  • Received:2009-04-16 Online:2010-02-16 Published:2009-04-16

摘要:

全轮独立驱动-独立转向车辆(all-wheel-independent-drive & steering vehicle,AWID-AWIS)的全部车轮均可独立驱动/制动、独立转向,具有驱动冗余,其运动控制一般采用分层控制方法实现。 针对有人驾驶AWID-AWIS车辆中的整车动力学控制问题,以驾驶员意图和参考模型产生控制目标,使用扩张状态观测器(expanded state observation, ESO)实时估计系统的“内扰”和“外扰”,设计车辆动力学自抗扰控制器(active disturbance rejectioncontrol, ADRC);对不同驾驶意图下的车辆运动进行控制仿真,讨论系统控制能力对驾驶意图的约束问题,指出消解驾驶意图与控制能力冲突的必要性和工作方向。 

关键词: AWID-AWIS车辆, 有人驾驶, 动力学控制, 扩张状态观测器, 自抗扰控制器

Abstract:

As an essential characteristic, controlredundancy makes the AWID-AWIS (All-Wheel-Independent-Drive & Steering) vehicle dynamics control generally realized by the hierarchical control method. In this paper, the body dynamics control of the manned AWIDAWIS vehicle was studied. First, the driver’s intention and reference model were used to produce control targets. Then the extended state observer (ESO) was used to estimate the “internal disturbance” and“external disturbance” in realtime, and the vehicle dynamics active disturbance rejection controller (ADRC) was subsequently designed. Third, the vehicle’s motions under different conditions were simulated, and the problems between the system’s control ability restrictions and the driver's intentions were discussed. The necessity and future work direction of solving the problems werealso pointed out.

Key words: AWID-AWIS vehicle, manned driving, dynamics control, extended state observer(ESO), active disturbance rejection control (ADRC)

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