适应式指数加权复合滑动模式为四轮独立执行的无人驾驶车辆的直向曲率控制
Zhengyong Tao1, Mingming Wu2, Min Qu1
1School of Automotive Engineering, Wuhu University, Wuhu, Anhui, China.
PloS one
|August 21, 2025
概括
本研究介绍了四轮自主驱动 (FWIA) 的自动驾驶汽车的新直向转向动力控制 (DYC) 策略. 这种新方法通过先进的自适应控制方法提高了车辆的操控稳定性和跟踪精度.
科学领域:
- 汽车工程
- 控制系统理论
- 机器人技术
背景情况:
- 自动驾驶汽车需要精确控制才能安全稳定运行.
- 四轮独立驱动 (FWIA) 提供了增强的机动性,但需要复杂的控制策略.
- 直接转动量控制 (DYC) 对于提高车辆动力和稳定性至关重要.
研究的目的:
- 为配备四轮独立驱动器 (FWIA) 的自动驾驶汽车开发一种新的直向转动量控制 (DYC) 方案.
- 与现有方法相比,提高追踪精度,融合速度和处理稳定性.
主要方法:
- 为上层控制提出了自适应指数加权复合滑动模式控制器 (AEWC-SMC).
- 开发了一个动态重量最小能量分配 (DWMEA) 方法,用于下层扭矩分配.
- 集成的自适应动态重量,考虑垂直负载,转向角度和车辆转速,以实现最佳扭矩分配.
主要成果:
- 在模拟中,AEWC-SMC表现出卓越的性能.
- 在没有代计算的情况下,DWMEA方法实现了最佳的四轮扭矩分布.
- 与传统的滑动模式控制 (SMC) 相比,模拟显示了更高的跟踪精度,更快的融合,以及增强的操控稳定性.
结论:
- 拟议的DYC方案大大提高了FWIA自动驾驶汽车的动态性能和稳定性.
- 集成AEWC-SMC和DWMEA为先进的车辆控制提供了有效的解决方案.
- 这项研究有助于开发更强大,更可靠的自动驾驶系统.
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