基于LPV/H∞鲁棒控制的重型商用车自动循迹

董晴, 季学武, 刘玉龙, 陶书鑫, 刘亚辉

清华大学学报（自然科学版） ›› 2022, Vol. 62 ›› Issue (3) : 438-446.

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清华大学学报（自然科学版） ›› 2022, Vol. 62 ›› Issue (3) : 438-446. DOI: 10.16511/j.cnki.qhdxxb.2021.26.011
机械工程

基于LPV/H∞鲁棒控制的重型商用车自动循迹

  • 董晴, 季学武, 刘玉龙, 陶书鑫, 刘亚辉
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Robust LPV/H∞ control for automatic path tracking of heavy commercial vehicles

  • DONG Qing, JI Xuewu, LIU Yulong, TAO Shuxin, LIU Yahui
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摘要

在重型商用车自动循迹过程中，外部干扰的不确定性和系统状态的非线性通常会降低轨迹跟踪精度，为控制器的设计带来很大挑战。该文提出了一种新型重型商用车线性参数时变（linear parameter varying，LPV）/H∞鲁棒控制器，解决了道路曲率的不确定性和纵向车速的时变性带来的轨迹跟踪精度降低的问题。对系统性能指标进行加权，利用增广的商用车四自由度动力学模型和轨迹跟踪模型设计了重型商用车横向H∞鲁棒控制器；针对车辆纵向速度时变的问题，设计了改进的梯形多胞体LPV控制器。最终，通过联合仿真和硬件在环实验，验证了该控制算法的有效性和实时性。研究结果表明：该LPV/H∞控制算法改善了原有控制算法的保守性，在保证重型商用车自动循迹稳定性的同时，能够显著提升轨迹跟踪精度。

Abstract

The uncertainties of external disturbances and the nonlinearity of system states usually reduce path tracking accuracy for automatic path tracking of heavy commercial vehicles which then complicates the controller design. This paper presents a robust LPV (linear parameter varying)/H∞ lateral motion controller which provides good path tracking accuracy regardless of uncertainties in the road curvature and variations of the longitudinal speed. A weighted performance index and the robust H∞ controller were designed for heavy commercial vehicles using a generalized 4-DOF dynamic model and an automatic path tracking model. An improved trapezoidal polytope LPV controller was designed to account for the vehicle speed variations. Simulations and a hardware-in-loop (HIL) implementation show the effectiveness and real-time response of the control algorithm. The results show that this LPV/H∞ control algorithm improves the conservativeness of the original control algorithm and significantly improves the trajectory tracking accuracy while ensuring automatic tracking stability of heavy commercial vehicles.

关键词

重型商用车 / 自动循迹 / 鲁棒控制 / 梯形多胞体 / 硬件在环实验

Key words

heavy commercial vehicles / automatic path tracking / robust control / trapezoidal polytope / hardware-in-loop (HIL) implementation

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董晴, 季学武, 刘玉龙, 陶书鑫, 刘亚辉. 基于LPV/H∞鲁棒控制的重型商用车自动循迹[J]. 清华大学学报（自然科学版）. 2022, 62(3): 438-446 https://doi.org/10.16511/j.cnki.qhdxxb.2021.26.011
DONG Qing, JI Xuewu, LIU Yulong, TAO Shuxin, LIU Yahui. Robust LPV/H∞ control for automatic path tracking of heavy commercial vehicles[J]. Journal of Tsinghua University(Science and Technology). 2022, 62(3): 438-446 https://doi.org/10.16511/j.cnki.qhdxxb.2021.26.011

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基金

刘亚辉,副教授,E-mail:liuyahui@tsinghua.edu.cn

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