系统仿真学报 ›› 2022, Vol. 34 ›› Issue (1): 163-169.doi: 10.16182/j.issn1004731x.joss.20-0655
吴小龙1, 夏甫根2, 陈静1, 徐佳1
收稿日期:
2020-09-03
修回日期:
2020-11-16
出版日期:
2022-01-18
发布日期:
2022-01-14
作者简介:
吴小龙(1994-),男,硕士生,研究方向为新能源传动系统控制。E-mail:wuxlong@2018.cqut.edu.cn
基金资助:
Wu Xiaolong1, Xia Fugen2, Chen Jing1, Xu Jia1
Received:
2020-09-03
Revised:
2020-11-16
Online:
2022-01-18
Published:
2022-01-14
摘要: 动力总成控制对无人驾驶汽车的动态性能和经济性起着重要的作用。为了提高车辆在路径跟踪过程中的动力性和经济性,提出了一种基于能量最优化的路径跟踪控制策略。控制策略分为两部分,在上层控制器中使用非线性模型预测控制来计算所需要的动力参数和前轮转角。下层控制器采用基于电机能耗数值最优的方法进行设计。该方法可以确保电机一直运行在效率最优状态,并可根据电机状态动态调节无级变速器以满足车辆动力需求。仿真结果表明,控制方案具有良好的跟踪性能和节能潜力。
中图分类号:
吴小龙, 夏甫根, 陈静, 徐佳. 基于能量最优的无人驾驶汽车路径跟踪控制[J]. 系统仿真学报, 2022, 34(1): 163-169.
Wu Xiaolong, Xia Fugen, Chen Jing, Xu Jia. Autonomous Vehicle Path Tracking Control System Based on Energy Optimization[J]. Journal of System Simulation, 2022, 34(1): 163-169.
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