CAJ | 학술논문

汽车是一个非常复杂的非线性动力学系统，难以建立精确的数学模型，而模糊控制方法适用于难以建立精确数学模型的对象。将模糊控制理论引入汽车操纵逆动力学中，以汽车三自由度模型为研究对象，根据侧向偏差和偏差变化率设计了车辆的路径跟踪模糊控制器。对某车型跟踪给定双移线和蛇形路径行驶情况进行了仿真。结果表明，模糊控制方法可保证汽车准确地跟踪给定参考路径，可以作为车辆路径跟踪控制的一种有效控制方法。
기차시일개비상복잡적비선성동역학계통，난이건립정학적수학모형，이모호공제방법괄용우난이건립정학수학모형적대상。장모호공제이론인입기차조종역동역학중，이기차삼자유도모형위연구대상，근거측향편차화편차변화솔설계료차량적로경근종모호공제기。대모차형근종급정쌍이선화사형로경행사정황진행료방진。결과표명，모호공제방법가보증기차준학지근종급정삼고로경，가이작위차량로경근종공제적일충유효공제방법。
The path tracking method was one of the major researches in vehicle handling inverse dynamics .A precise mathematical model was established difficultly because of a very complex nonlin-ear dynamic system of the vehicle .Fuzzy control method was suitable to establish a precise difficult mathematical mode .Fuzzy control theory was introduced into the vehicle handling inverse dynamics . Vehicle model of three freedom degrees was researched .The fuzzy controller of path tracking was de-signed with considering lateral deviation and rate of change .The driving conditions were obtained by simulating path tracking according to given the double lane change and the serpentine path .Simula-tion results show that the fuzzy control algorithm can ensure tracking given path of vehicles accurate-ly ,and can be used as an effective control method good for a vehicle path tracking .