The invention relates to a self-adaptive unmanned cascade control method. The method comprises the following steps: inputting a reference course angle; course angle error calculation; the adaptive controller 1 calculates a reference front wheel rotating angle; calculating an expected front wheel steering angle according to the position error; front wheel rotation angle error calculation; the self-adaptive controller 2 calculates a front wheel steering angle control quantity; and inputting the front wheel steering angle control quantity into the vehicle to obtain an updated front wheel steering angle and course angle. Compared with the prior art, aiming at an underactuated and strong nonlinear system such as an unmanned vehicle, the method has the advantages of realizing model-free adaptive control, controlling a front wheel steering angle to be stable by a cascade control method, reducing a tracking error, stably enabling a transverse error and a course error to be synchronously converged, improving the tracking precision of the unmanned system, and improving the tracking precision of the unmanned system. And the operation safety is ensured.
本发明涉及一种自适应的无人驾驶串级控制方法,包括:参考航向角输入;航向角误差计算;自适应控制器1计算参考前轮转角;位置误差计算的期望前轮转角;前轮转角误差计算;自适应控制器2计算前轮转角控制量;前轮转角控制量输入车辆,得到更新的前轮转角和航向角。与现有技术相比,本发明针对无人驾驶车辆这类欠驱动、强非线性系统,具有实现无模型自适应控制,串级控制方法控制前轮转角稳定,可以降低跟踪误差,稳定地使横向误差和航向误差同步收敛,提高无人驾驶系统的跟踪精度,保证运行的安全。
Self-adaptive unmanned cascade control method
一种自适应的无人驾驶串级控制方法
2023-03-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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