【作者】 王佳栋；

【导师】 李显生；

【作者基本信息】 吉林大学 ， 载运工具运用工程， 2005， 硕士

【摘要】 随着我国经济的快速发展和公路条件的改善,特别是高速公路的相继建成,汽车运输正向重型化、拖挂化发展。因此,提高汽车列车的机动性、稳定性、安全性已成为重要的研究课题。汽车列车的轨迹跟踪控制问题是提高汽车列车机动性的重要方面,因此应该给予充分的研究。本文在介绍和分析国内外对汽车列车轨迹跟踪问题研究成果的同时,对汽车列车轨迹跟踪控制器的设计进行了比较深入的探索。根据汽车列车的运动学特性建立了汽车列车运动非线性数学模型,在此模型基础上利用非线性系统准确线性化原理,对此非线性模型进行坐标转换,最后将该系统转换成线性化的系统。在完成系统的线性化后,设计了汽车列车轨迹跟踪控制器,然后对该控制器进行了仿真以验证该控制器的实际效果。更多还原

【Abstract】 With the development of the automobile industry and the transportation,and with the improvement of the road and highway, especially the extensive expansion of the containerized transport and automobile transportation for less -than -carload goods ,truck-trailers are mainly used in container transportation and other transportation ways. In the middle period of the 20th century, the quality of the highway was notably improved, the high-speed highway developed constantly. Nowadays, the manufacturing industry of the automobile pays more attention to the design and manufacture of truck-trailer for the good conveyance benefit of truck-trailer. The productive of truck-trailer is much higher than the single automobile way. It is one of the most important means to reduce the cost of the long-distance conveyance. The control of the moving track of truck-trailer is the main assignment in the automobile control issue. When the truck-trailer is running, it should follow the prearrange track. The truck-trailer is a bored with a reamer, which is a comparatively complex problem in movement. The control of the moving track of truck-trailer which is the emphasis aspect to advance its maneuverability is a most different problem. With the development of our country economic and the improvement of the road, especially with the construction of the highway, the vehicle conveyance ways are forward to the direction of heavy and pull-drag ways. So, it is an important question for discussion that improves the truck-trailer’s maneuverability, stability, safety and so on. The truck-trailer’s track is the important part of improving the truck-trailer’s maneuverability, so we must pay more attention to it. The system of the truck-trailer is a nonlinear system, if we want to control this system, we must first transform it into a linear system, then we can use the methods of Laplace transform, Fourier transform and so on, which can be used to the linear system. We can design the controller easily. This thesis is aimed at introducing the research result of the truck-trailer’s track, and researches the design of the moving track of truck-trailer deeply. It mainly consists of these parts: 1) We introduce some methods of the linearization of the nonlinear system, today, these methods consist of basic linearization, optimal quasi-linearization, linearization family, approximate input/output linearization, approximate state feedback linearization, singular perturbation, center manifold method, and so on. These methods are always used in nonlinear system, but they are not very effective in many situations because these are approximate linearization. 2) Through the analysis of the characteristic between the tractor and trailer, we suppose that there are three wheels on the tractor and establish the truck-trailer’s movement differential equation. But this system is also a nonlinear system about the time variable t, If we want control this system, we must linear it. 3) We process the linearization of the nonlinear system through the accurate linearization theory of R.Su and Jakubczyk. We更多还原