Vehicle path tracking by integrated chassis control

查看全文 作　　者：Saman [1]Salehpour;Yaghoub [2]Pourasad;Seyyed Hadi [3]Taheri

机构地区：[1]Department of Mechanical Engineering, Tabriz Branch, Islamic Azad University;[2]Faculty of Electrical Engineering, Urmia university of Technology;[3]Young Researchers and Elite Club, Tabriz Branch, Islamic Azad University

出　　处：《Journal of Central South University》索引2015年第22卷第4期,共11页

摘　　要：The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator(LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization(PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance. 关键词：车辆模型路径跟踪底盘控制 SIMULINK 综合控制器防抱死制动系统粒子群优化集成

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Vehicle path tracking by integrated chassis control

参考文献(27)

引证文献(10)

耦合文献(31)

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