Dynamic Model Predictive Control Method for Steering Control of Driving Robot

doi:10.16183/j.cnki.jsjtu.2021.108

Abstract

Abstract:

A dynamic model predictive control method for driving robots is proposed to realize accurate steering control of the test vehicle. First, the coupling dynamics model of the driving robot and the controlled vehicle is established, and the controllability of the coupling model is judged. Then, the Kalman filter is used to estimate the state of the coupled model, and a model predictive controller is designed according to the estimated state. The least square method is adapted to fit the nonlinear relationship between path curvature and prediction horizon, and a dynamic model predictive controller with variable prediction horizon is designed. Finally, the simulation and the test of the steering control of the driving robot at different conditions are conducted, and the results verify the effectiveness of the proposed method.

Key words: driving robot, steering control, Kalman filter, prediction horizon, dynamic model predictive control

CLC Number:

TH113
U467.1

JIANG Junhao, CHEN Gang. Dynamic Model Predictive Control Method for Steering Control of Driving Robot[J]. Journal of Shanghai Jiao Tong University, 2022, 56(5): 594-603.

Figures/Tables 14

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Tab.1

Data of prediction horizon

ρ/m^-1	$N p *$	ρ/m^-1	$N p *$
0	8	0.14	12
0.02	9	0.16	13
0.04	10	0.18	14
0.06	10	0.20	15
0.08	11	0.22	17
0.10	11	0.24	18
0.12	12

Tab.1

Tab.2

Tab.3

Fig.6

Fig.7

Tab.4

Key parameters

对象	参数	数值	对象	参数	数值
驾驶机器人	L/H	0.012	驾驶机器人	μ/(N·m·rpm^-1)	0.05
	k_t/(N·m·A^-1)	0.47		R/Ω	0.42
	k_e/[V·(rad·s)^-1]	0.0172		i₀	15
被操纵车辆	m/kg	1126	被操纵车辆	K₀/(N·m·rad^-1)	6000
	l_f/m	1.014		J_e/(kg·m²)	14
	l_r/m	1.534		e/m	0.0035
	K_f/(N·rad^-1)	51480		J_z/(kg·m²)	2697
	K_r/(N·rad^-1)	87416		i_e	20
控制器	ΔU_max/V	3	控制器	N_pmin	8
	ΔU_min/V	-3		$w q i$	20000
	U_max/V	24		$w r j$	0.1
	U_min/V	-24		N_c	10
	N_pmax	19

Tab.4

Fig.8

Tab.5

Fig.9

References 19

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参数	最终值	95%置信区间
b₀	0.1016	(0.07692, 0.1264)
b₁	0.1089	(0.09469, 0.1231)

评价指标	取值
均方根误差	0.44
确定系数	0.98
自由度调整确定系数	0.97

工况	k_p	k_i
不考虑踏板特性	160.5	424.9
考虑踏板特性	193.9	465.9