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相关概念视频

Feedback control systems01:26

Feedback control systems

261
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
261
Root-Locus Method01:19

Root-Locus Method

117
A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
117
Open and closed-loop control systems01:17

Open and closed-loop control systems

592
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
592
Controller Configurations01:22

Controller Configurations

78
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
78
Types of Global Positioning System Surveys01:30

Types of Global Positioning System Surveys

43
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
43
PD Controller: Design01:26

PD Controller: Design

157
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
157

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Trajectory Data Analyses for Pedestrian Space-time Activity Study
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关于自动驾驶汽车轨迹跟踪控制方法的比较研究.

Dequan Zeng1,2,3, Shicong Pan4,5, Yinquan Yu1,2

  • 1Institute of Precision Machining and Intelligent Equipment Manufacturing, East China Jiaotong University, Nanchang, 330013, China.

Scientific reports
|May 16, 2025
PubMed
概括
此摘要是机器生成的。

这项研究比较了自动驾驶系统的先进轨迹跟踪控制器. 它评估了线性二次调节器 (LQR),模型预测控制 (MPC) 和非线性整体滑动模式控制 (NISMC),以提高车辆的稳定性和性能.

关键词:
自动驾驶汽车是一种自动驾驶汽车.线性二次调节器 线性二次调节器模型预测控制模型预测控制非线性整体滑动模式控制器非线性整体滑动模式控制器轨迹跟踪控制器可以控制轨迹的跟踪.

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科学领域:

  • 汽车工程 汽车工程
  • 控制系统工程 控制系统工程
  • 机器人技术 机器人技术 机器人技术

背景情况:

  • 轨迹跟踪控制对于高性能自动驾驶系统至关重要.
  • 开发稳定,可靠,准确,快速和强大的控制器是至关重要的.
  • 需要对不同控制策略进行比较分析,以确定最佳解决方案.

研究的目的:

  • 提出和比较分析三个横向和两个纵向的轨迹跟踪控制方案.
  • 为了评估线性二次调节器 (LQR),模型预测控制 (MPC) 和非线性整体滑动模式控制 (NISMC) 在横向控制中的性能.
  • 为了比较模型预测控制 (MPC) 和比例积分导数 (PID) 控制器用于纵向速度跟踪.

主要方法:

  • 基于LQR的前和反侧面控制器的设计.
  • 使用二次编程 (QP) 解决器解决的线性参数时间变化的MPC横向控制器的实现.
  • 开发一个NISMC侧向控制器,具有整体动作和和功能,以实现零稳定状态误差.
  • 使用步速跟踪测试,双车道切换测试和在不同的粘附条件下循环路径测试进行比较分析.
  • 使用基于多个绩效指标的5分比图进行量化绩效评估.

主要成果:

  • 通过步骤速度跟踪测试验控制器有效性和性能指标的验证.
  • 评估三种横向控制器在不同的道路条件下的有效性,优点,缺点和应用.
  • 使用定量评分系统直接比较控制特征和综合性能.

结论:

  • 该研究提供了先进的轨迹跟踪控制策略的全面比较.
  • 这些发现有助于根据特定的性能要求和操作条件选择最合适的控制器.
  • 该研究有助于开发更稳定,可靠和准确的自动驾驶系统.