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Study On Perturbation Model Of Lateral Active Collision Avoidance System And ?-synthesis Robust

Posted on:2018-09-21Degree:MasterType:Thesis
Country:ChinaCandidate:W WangFull Text:PDF
GTID:2322330533959445Subject:Vehicle engineering
Abstract/Summary:PDF Full Text Request
The improvement of people's living standard is due to the rapid development of automobile industry,but the rear-end collision accident occurred with a huge economic losses.Therefore,the lateral active collision avoidance system has become a hot topic in the field of smart cars.Due to the complexity and non-linearity of the lateral dynamics system,there are a lot of uncertainties in the model,resulting in too long system response time and poor robust stability and poor performance robustness.In this paper,a new type of lateral dynamic perturbation model is proposed,and a perturbed safety distance model is designed.Based on the further design of the lateral active collision avoidance ? integrated robust controller,the controller can effectively suppress parameter perturbation,sensor noise,and unmodeled errors,with good robustness.First of all,based on the existing research results of active collision avoidance system,this paper designs the overall scheme of lateral active collision avoidance system.Then,a new type of lateral dynamic perturbation model is proposed.According to the standard parameters of the simulated vehicle,the parameter perturbation of the driving condition is dealt with by the linear fractional transformation theory.The results show that the model not only has good dynamic performance and accuracy,but also can better respond to the motion state of the vehicle under the perturbation of the parameters,and can track the front wheel angle well well.Which provides a good foundation for the design of the next controller.Next,this paper constructs the steering time response evaluation function of the steering system with the integrated weighting method,and optimizes the path trajectory model of the sine function acceleration.Then,the perturbation safety distance model is established and the ?controller is compared with theH_? controller under different working conditions.The simulation results show that the established model of vehicle perturbation safety distance is superior to the model in response time and stability the traditional safe distance model.Finally,based on the ? control theory and perturbation model in the first five chapters,the influence of parameter perturbation,external disturbance and unmodeled error on the system is considered,and the lateral active collision avoidance ? controller is designed.This chapter in the Matlab Simgui toolbox,the simulation under different conditions,and compared with the traditionalH_? controller.The simulation results show that the designed lateral collision avoidancesystem can accomplish the collision avoidance task accurately,and can track the path,track the stability and control,and realize the collision avoidance.The designed ? controller can suppress the perturbation effect and improve the conservativeness of theH_? controller.The designed ?controller makes the system have high robust stability and robust performance.Which provides a reference for the research of lateral active collision avoidance system and control strategy under the influence of perturbation.
Keywords/Search Tags:? control theory, Lateral dynamic perturbation model, Perturbed safety distance model, Collision avoidance controller, Robustness
PDF Full Text Request
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