摘要
针对汽车超车过程中的轨迹进行研究,提出了利用分数阶自抗扰技术对智能汽车的超车过程进行控制。首先,通过对整个超车过程进行模拟和对车辆建立数学模型,计算出超车可行轨迹。然后,利用改进型分数阶自抗扰对车辆行驶轨迹进行控制,提高汽车响应速度和减少超调量。最后,通过仿真验证了控制策略的有效性和合理性。实验结果说明,本控制方法具有很强的鲁棒性能,增强超车过程中的抗干扰能力和响应速度。
In this paper,fractional auto disturbance rejection technology is used to control the overtaking process of intelligent vehicle.Firstly,the feasible overtaking trajectory is calculated by simulating the whole overtaking process and establishing a mathematical model of the vehicle.Then,the vehicle trajectory is controlled by fractional auto disturbance rejection to improve the vehicle response speed and reduce the overshoot.Finally,the effectiveness and rationality of the proposed control strategy are verified by simulation.The experimental results show that the control method has strong robustness and enhances the anti-interference ability and response speed in the process of overtaking.
作者
吴贞犇
杨潘
王力超
刘丙友
WU Zhen-ben;YANG Pan;WANG Li-chao;LIU Bing-you(School of Electrical Engineering,Anhui Polytechnic University,Wuhu 241000,China;Anhui Dar Intelligent Control System Stock Co.,Ltd.,Wuhu 241000,China)
出处
《长春师范大学学报》
2022年第4期36-42,共7页
Journal of Changchun Normal University
基金
安徽省自然科学基金项目“基于动平衡解耦的遥感相机姿态高精度自抗扰控制机制”(1808085MF182)
芜湖科技计划项目“智能盲区监测安全预警系统”(2020yf60)
安徽工程大学-鸠江区产业协同创新专项基金项目“多自由度机器人高精度协同控制系统研究”(2021cyxtb2)
安徽省高校学科(专业)拔尖人才学术资助项目(gxbjZD2021065)。
