CAJ | 학술논문

无人驾驶AWID-AWIS车辆是一种全部车轮均可独立驱动/制动、独立转向的先进车辆,对其运动控制这一基础问题进行了研究.首先建立一种适于无人驾驶AWID-AWIS车辆的分层式运动控制体系结构,其上层为运动控制器,中层为控制分配器,底层为独立车轮伺服控制器;然后使用扩张状态观测器(ESO)和自抗扰控制(ADRC)方法设计车辆运动学/动力学集成式运动控制器;最后开展多种工况下的运动控制仿真,证明了控制方法的有效性,指出运动控制目标不能被简单地确定.
무인가사AWID-AWIS차량시일충전부차륜균가독립구동/제동、독립전향적선진차량,대기운동공제저일기출문제진행료연구.수선건립일충괄우무인가사AWID-AWIS차량적분층식운동공제체계결구,기상층위운동공제기,중층위공제분배기,저층위독립차륜사복공제기;연후사용확장상태관측기(ESO)화자항우공제(ADRC)방법설계차량운동학/동역학집성식운동공제기;최후개전다충공황하적운동공제방진,증명료공제방법적유효성,지출운동공제목표불능피간단지학정.
The high performance locomotion control is an essential issue of the unmanned AWID-AWIS (all-wheel-independent-drive & steering) vehicle. Firstly, a kind of hierarchical locomotion control architecture suited to the unmanned vehicle was proposed. Its top layer, middle layer and bottom layer are the locomotion controller, the control allocator and the independent wheel drive-brake-steering servo controller, respectively. Secondly, a novel vehicle dynamic/kinematics integrated locomotion control means was developed using the extended state observer (ESO) and active disturbance rejection control (ADRC) method, and the controller was subsequently designed. Finally, the vehicle locomotion control simulations under different conditions were performed. The results showed the proposed control method is virtual, and that the control objective for AWID-AWIS vehicle locomotion couldn't be designed simply.