自動運転の4輪車用の,指数関数加重複合スライディングモードベースのダイレクトヤウモント制御
Zhengyong Tao1, Mingming Wu2, Min Qu1
1School of Automotive Engineering, Wuhu University, Wuhu, Anhui, China.
PloS one
|August 21, 2025
まとめ
この研究は,四輪独立アクチュエーション (FWIA) の自動運転車のための新しいDYC戦略を提示しています. この新しいアプローチは,高度な適応制御方法を使用して,車両の操縦の安定性と追跡精度を向上させます.
科学分野:
- 自動車工学
- 制御システム理論
- ロボット
背景:
- 自動運転車は安全で安定した動作を 精密に制御する必要があります
- 4ホイール・インディペンデント・アクチュエーション (FWIA) は機動性を高めますが,洗練された制御戦略が必要です.
- 車両のダイナミクスと安定性を向上させるには,ダイレクト・ヨウ・モメント・コントロール (DYC) が不可欠です.
研究 の 目的:
- 四輪独立アクチュエーション (FWIA) を搭載した自動運転車のための新しいダイレクト・ヤウ・モメント・コントロール (DYC) スキームを開発する.
- 追跡精度,収束速度,および既存の方法と比較して操作の安定性を向上させる.
主な方法:
- 上層制御のための適応指数加重複合スライディングモードコントローラ (AEWC-SMC) を提案した.
- 下層のトルク配分のためのダイナミック・ウェイト・ミニム・エネルギー・アロケーション (DWMEA) メソッドを開発した.
- 垂直負荷,ステアリングの角度,車両の速度を考慮して最適のトルク配分を組み込んだ適応力のある重量.
主要な成果:
- AEWC-SMCはシミュレーションで優れたパフォーマンスを示しました.
- DWMEA法では,反復的な計算なしで,最適な4輪のトルク分布を効率的に達成しました.
- シミュレーションでは,従来のスライディングモードコントロール (SMC) と比較して,より高い追跡精度,より速い収束,およびより高い操作安定性が示されました.
結論:
- 提案されたDYCスキームは,FWIAを搭載した自動運転車のダイナミック性能と安定性を大幅に改善します.
- AEWC-SMCとDWMEAの統合は,高度な車両制御のための効果的なソリューションを提供します.
- この研究はより堅牢で信頼性の高い 自動運転システムの開発に寄与します
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