CAJ | 학술논문

针对自动泊车系统,提出了无模型自适应控制(Model-free adaptive control, MFAC)方案。控制方案的设计仅利用泊车系统的前轮转角输入数据和车身角输出数据,不包含车辆模型信息。因此,针对不同车型的自动泊车系统,该方案均能实现无模型自适应控制。为了改善期望轨迹的坐标跟踪误差,进一步提出基于坐标补偿的无模型自适应控制方案,该方案由控制算法、参数估计算法、参数重置算法和坐标补偿算法构成。针对不同车型不同泊车速度的仿真结果表明,基于坐标补偿的MFAC 方案和原型MFAC方案均能较好地完成自动泊车过程,且基于坐标补偿的MFAC方案相比原型MFAC方案和PID控制方案,在轨迹坐标和车身角等方面均具有更小的跟踪误差和更快的响应速度。
침대자동박차계통,제출료무모형자괄응공제(Model-free adaptive control, MFAC)방안。공제방안적설계부이용박차계통적전륜전각수입수거화차신각수출수거,불포함차량모형신식。인차,침대불동차형적자동박차계통,해방안균능실현무모형자괄응공제。위료개선기망궤적적좌표근종오차,진일보제출기우좌표보상적무모형자괄응공제방안,해방안유공제산법、삼수고계산법、삼수중치산법화좌표보상산법구성。침대불동차형불동박차속도적방진결과표명,기우좌표보상적MFAC 방안화원형MFAC방안균능교호지완성자동박차과정,차기우좌표보상적MFAC방안상비원형MFAC방안화PID공제방안,재궤적좌표화차신각등방면균구유경소적근종오차화경쾌적향응속도。
In this paper, a model-free adaptive control (MFAC) scheme is proposed for automatic car parking systems. The design of the proposed scheme only depends on the steering angle and the orientation angle of the car, and it does not involve any model information of the car. Therefore, the MFAC based automatic parking system is applicable to different kinds of cars. In order to further reduce the desired trajectory coordinate tracking error, a modified MFAC scheme with coordinates compensation is also proposed, which consists of a control algorithm, a parameter estimation algorithm, a parameter reset algorithm, and a coordinates compensation algorithm. A simulation comparison among MFAC scheme with coordinates compensation, prototype MFAC scheme, and PID control algorithm is given for different kinds of cars with different parking speeds. It is shown that both the prototype MFAC scheme and the MFAC scheme with coordinates compensation can better finish the automatic parking process, and the MFAC scheme with coordinates compensation has smaller tracking errors and more rapid responses to the orientation angle of the car and the trajectory coordinates than the prototype MFAC and PID schemes.