本文選題：車(chē)輛工程 + 四輪轉(zhuǎn)向��； 參考：《吉林大學(xué)學(xué)報(bào)(工學(xué)版)》2016年02期

【摘要】：建立了四輪轉(zhuǎn)向車(chē)輛的八自由度動(dòng)力學(xué)模型,并設(shè)計(jì)了四輪轉(zhuǎn)向車(chē)輛的徑向基函數(shù)神經(jīng)網(wǎng)絡(luò)控制器,該控制器采用直接閉環(huán)訓(xùn)練法以離線(xiàn)的方式進(jìn)行訓(xùn)練。為了克服離線(xiàn)訓(xùn)練導(dǎo)致控制系統(tǒng)適應(yīng)性差的缺點(diǎn),本文同時(shí)設(shè)計(jì)了一個(gè)單神經(jīng)元自適應(yīng)PSD控制器,它與徑向基函數(shù)神經(jīng)網(wǎng)絡(luò)控制器組成復(fù)合控制系統(tǒng)共同完成對(duì)四輪轉(zhuǎn)向車(chē)輛的控制。結(jié)合建立的八自由度車(chē)輛動(dòng)力學(xué)模型對(duì)設(shè)計(jì)的復(fù)合控制器進(jìn)行仿真實(shí)驗(yàn)分析,結(jié)果表明,無(wú)論勻速工況還是變速工況,徑向基函數(shù)神經(jīng)網(wǎng)絡(luò)復(fù)合控制器均可有效地改善四輪轉(zhuǎn)向車(chē)輛的操作穩(wěn)定性。
[Abstract]:The dynamic model of four-wheel steering vehicle with eight degrees of freedom is established, and the radial basis function neural network controller of four-wheel steering vehicle is designed. The controller is trained offline by direct closed-loop training method. In order to overcome the disadvantage that offline training leads to poor adaptability of the control system, a single neuron adaptive PSD controller is designed in this paper. The compound control system composed of radial basis function neural network controller and radial basis function neural network controller is used to control the four wheel steering vehicle. Combined with the established vehicle dynamics model of eight degrees of freedom, the simulation experiments of the designed composite controller are carried out. The results show that both uniform and variable speed conditions are obtained. The radial basis function neural network compound controller can effectively improve the operation stability of four wheel steering vehicle.
【作者單位】： 吉林大學(xué)交通學(xué)院;
【基金】：吉林省科技廳國(guó)際合作項(xiàng)目(20130413056GH) 長(zhǎng)春市科技局重大科技攻關(guān)計(jì)劃項(xiàng)目(長(zhǎng)科技合(2013021)號(hào)-13KG05) 清華大學(xué)汽車(chē)安全與節(jié)能?chē)?guó)家重點(diǎn)實(shí)驗(yàn)室開(kāi)放基金項(xiàng)目(KF14182) 吉林大學(xué)國(guó)家杰出青年基金后備人選培育計(jì)劃項(xiàng)目
【分類(lèi)號(hào)】：U469;U463.6

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