【摘要】 由于汽车动力学特性呈现强非线性,经典的开环校正控制方式不能自动适应被控车辆动力学特性的变化。据此,本文中提出一种对汽车非线性动力学具有自适应性的复合校正方法,它采用经典的开环校正作为主校正部分,而用BP神经网络PID控制器作为补偿校正部分。在Matlab/Simulink中对Car Sim样车进行仿真,结果表明,采用复合校正方法的预瞄跟随驾驶员模型跟随性较好,参数无需标定,且对汽车动力学的非线性特性具有很好的自适应能力。更多还原

【Abstract】 In view of that classical open-loop correction control can not automatically adapt to the change of vehicle dynamic characteristics due to the strong non-linearity of vehicle dynamic characteristics,a compound correction scheme with an adaptability to nonlinear dynamics of vehicle is proposed.The classical open loop correction is adopted as its main correction part,and the BP neural network PID controller is used as its compensation part.A simulation is conducted on the prototype vehicle in Car Sim with MATLAB/Simulink and its results show that compound correction scheme can get a better following performance of preview following driver model and a good adaptability to nonlinear dynamics of vehicle without parameter calibration.更多还原