The invention discloses a variable cross-section Tube MPC trajectory tracking control method considering truck load uncertainty. The method comprises the following steps: establishing a three-degree-of-freedom model by considering truck yawing motion, transverse motion and roll motion under the load uncertainty; performing disturbance separation on the three-degree-of-freedom model considering the load uncertainty based on a Tube invariant set theory, and establishing a nominal model; collecting information of a vehicle-mounted sensor, and designing a variable cross-section Tube based on a system state; calculating a nominal front wheel steering angle based on the nominal model; designing an auxiliary controller based on the variable cross-section Tube and calculating an additional front wheel turning angle; a front wheel steering instruction is output to the steering system in combination with the nominal front wheel steering angle and the additional front wheel steering angle to cause the truck to track the target trajectory. Truck driving state signals are collected in real time through the sensor, the front wheel turning angle control strategy of the controller is adjusted based on the current state of the truck, and the influence of variable loads on the trajectory tracking performance of the truck is reduced.
本发明公开了一种考虑卡车负载不确定的变截面Tube MPC轨迹跟踪控制方法,步骤如下:考虑负载不确定下的卡车横摆运动、横向运动和侧倾运动建立三自由度模型;基于Tube不变集理论对考虑负载不确定的三自由度模型进行扰动分离,建立标称模型;采集车载传感器信息,基于系统状态设计变截面Tube;基于标称模型计算标称前轮转角;基于变截面Tube设计辅助控制器并计算附加前轮转角;结合标称前轮转角和附加前轮转角向转向系统输出前轮转角指令,使卡车跟踪目标轨迹。本发明通过传感器实时采集卡车行驶状态信号,基于车辆当前状态调整控制器的前轮转角控制策略,减小变负载对卡车的轨迹跟踪性能的影响。
Variable cross-section Tube MPC trajectory tracking control method considering truck load uncertainty
一种考虑卡车负载不确定的变截面Tube MPC轨迹跟踪控制方法
2023-10-13
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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