CAJ | 학술논문

基于LQR参数整定设计最优控制器，是目前最优控制设计采用最广泛的一种方法。首先建立汽车动力学模型并分析汽车路径跟踪过程。利用LQR最优控制算法实现对汽车路径跟踪的控制。另外，采用整定参数的方式分析改变目标函数中权矩阵Q和R对控制性能的影响，从而得到控制性能较好的一对权矩阵，得到较好的控制策略。并利用仿真结果验证所采用的方法能达到很好的控制效果。
기우LQR삼수정정설계최우공제기，시목전최우공제설계채용최엄범적일충방법。수선건립기차동역학모형병분석기차로경근종과정。이용LQR최우공제산법실현대기차로경근종적공제。령외，채용정정삼수적방식분석개변목표함수중권구진Q화R대공제성능적영향，종이득도공제성능교호적일대권구진，득도교호적공제책략。병이용방진결과험증소채용적방법능체도흔호적공제효과。
Designing the optimal controller based on LQR parameter tuning is the most widely used method at present. Firstly, establish the vehicle dynamics model and analysis of vehicle path tracking process, then use LQR optimal control algorithm to control of vehicle path tracking. In addition, use the parameter tuning ways to analyze the change in the objective function of the matrix Q and the influence of R on the control performance, so as to get control of a pair of weight matrix with better performance, and get better control strategy. Using the simulation re?sults verification methods can achieve good control effect.