【摘要】 从研究转向特性的2自由度简化模型出发,推导出智能汽车转向的状态空间方程,据此构造了智能汽车转向的动力学模型,进而应用Lyapunov方程设计了模型跟踪控制器.选用与实际汽车模型同阶的系统,采用极点配置的方法设计了理想汽车模型.通过输入不同的道路进行仿真,证明了该控制器设计的有效性.更多还原

【Abstract】 Based on the simplified model of two degrees of freedom for automatic steering vehicle, a dynamic model was proposed and correspondingly a set of governing equations in state space were developed. By means of Lyapunov function a model following controller was designed. The ideal model, whose rank is identical with that of the vehicle model, was derived by the pole assignment. Through computer simulations for inputs of different road conditions, it is shown that the present controller is effective.更多还原