【摘要】 无人驾驶AWID-AWIS车辆是一种全部车轮均可独立驱动/制动、独立转向的先进车辆,对其运动控制这一基础问题进行了研究。首先建立一种适于无人驾驶AWID-AWIS车辆的分层式运动控制体系结构,其上层为运动控制器,中层为控制分配器,底层为独立车轮伺服控制器;然后使用扩张状态观测器(ESO)和自抗扰控制(ADRC)方法设计车辆运动学/动力学集成式运动控制器;最后开展多种工况下的运动控制仿真,证明了控制方法的有效性,指出运动控制目标不能被简单地确定。更多还原

【Abstract】 The high performance locomotion control is an essential issue of the unmanned AWID-AWIS(all-wheel-independent-drive & steering) vehicle.Firstly, a kind of hierarchical locomotion control architecture suited to the unmanned vehicle was proposed.Its top layer,middle layer and bottom layer are the locomotion controller,the control allocator and the independent wheel drive-brake-steering servo controller,respectively.Secondly,a novel vehicle dynamic/kinematics integrated locomotion control means was developed using the extended state observer(ESO) and active disturbance rejection control(ADRC) method,and the controller was subsequently designed.Finally,the vehicle locomotion control simulations under different conditions were performed.The results showed the proposed control method is virtual,and that the control objective for AWID-AWIS vehicle locomotion couldn’t be designed simply.更多还原