【摘要】 针对智能车辆纵向运动模型的本质非线性控制设计问题,提出采用反馈线性化方法得到其线性化模型,利用状态反馈阵(SFM)算法进行纵向运动控制。对智能车辆的纵向运动动力学方程,分别采用全状态线性化和输入-输出线性化方法,得到其线性状态空间模型。在Matlab/Simulink环境下,构建了基于SFM算法的智能车辆纵向运动控制仿真模型,输入阶跃和正弦信号后得到了速度和位置的控制仿真结果。结果表明,输入-输出线性化方法和SFM算法适用于对智能车辆的纵向运动控制。更多还原

【Abstract】 In this paper,considering the fact that longitudinal motion model of intelligent vehicle established is nonlinear,a feedback linearization method is proposed to obtain its linear model.The state feedback matrix(SFM)algorithm is used to control intelligent vehicle.The longitudinal dynamic equations of intelligent vehicle is linearized by using full state linearization and input-output linearization method to obtain its linear state-space equation,respectively.In the Matlab/Simulink environment,simulation model is constructed based on SFM algorithm.Under the step and sinusoidal signal input,the simulation results of speed and position are obtained.Simulation results show that the inputoutput linearization method and SFM algorithm have better performance to longitudinal motion control of intelligent vehicle.更多还原