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| 两轮单辙平台自平衡轨迹跟踪控制融合 |
| Trajectory tracking control algorithm of two-wheel single point platform |
| 投稿时间：2024-01-10 修订日期：2024-04-15 |
| DOI： |
| 中文关键词: 两轮单辙平台 转向平衡 轨迹跟踪 PID MPC |
| 英文关键词: Two-wheel single-rut platform Turn to balance Trajectory tracking PID MPC |
| 基金项目:高机动、自平衡多用途电动两轮机动平台，重庆市科委重点攻关计划项目，2021CCB03 |
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| 中文摘要: |
| 不同于四轮车，两轮单辙平台是典型的非线性、欠驱动自然不稳定系统，需要持续施加控制才能维持车辆横向的动态平衡，若仅考虑轨迹跟踪跟踪问题，将干扰横向稳定，导致控制失效，需要同时兼顾横向平衡与轨迹跟踪并对两类控制算法进行深度耦合；因此在仅以转向作为控制机构的情况下，提出了一类自平衡-轨迹跟踪融合控制算法；其中，横向稳定采用基于动态增益调度的串级PID控制器，基于两轮单辙平台动力学与运动学模型，分别搭建转向自平衡控制算法与路径跟踪算法，两者根据车辆当前状态反馈，作权重划分，在运动过程中进行自适应判断，使车辆在平衡的同时向既定路线趋近，在恒速工况下对转向进行控制；实验结果表明：该融合算法能够在实际工程中使车辆在保证自身平衡的基础上精准地跟踪到路径上。 |
| 英文摘要: |
| Different from the four-wheeler, the two-wheel single-rut platform is a typical nonlinear, underdriven natural unstable system, which requires continuous control to maintain the lateral dynamic balance of the vehicle. If only trajectory tracking is considered, the lateral stability will be interfered with, and even the control will fail. It is necessary to take into account both lateral balance and trajectory tracking and deeply coupling the two control algorithms. In this paper, a kind of self-balancing and trajectory tracking fusion control algorithm is proposed with only steering as the control mechanism. Among them, the cascade PID controller based on dynamic gain scheduling is adopted for lateral stability, and the steering self-balancing control algorithm and path tracking algorithm are built respectively based on the dynamics and kinematics model of the two-wheel single-point platform. The two are coupled, and adaptive judgment is made during the movement process that the vehicle is approaching the established route while balancing, and the steering is controlled under constant speed conditions. The experimental results show that the fusion algorithm can make the vehicle track the path accurately on the basis of ensuring its own balance. |
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