毕业论文_智能小车建模研究-精品

学号__200531470020__密级________________武汉大学本科毕业论文智能小车建模研究院（系）名称：动力与机械学院专业名称：自动化学生姓名：指导教师：副教授二○○九年六月郑重申明本人呈交的学位论文，是在导师的指导下，独立进行研究工作所取得的成果，所有数据、图片资料真实可靠。尽我所知，除文中已经注明引用的内容外，本学位论文的研究成果不包含他人享有著作权的内容。对本论文所涉及的研究工作做出贡献的其他个人和集体，均已在文中以明确的方式标明。本学位论文的知识产权归属于培养单位。本人签名：日期：BACHELOR'SDEGREETHESISOFWUHANUNIVERSITYModellingofaSmartCarCollege：PowerandMechanicalEngineeringSubject：AutomationName：WangXuezhuDirector：ZhuanXiangtaoAssociateProfessorJune2009摘要本课题源自全国大学生智能汽车竞赛，建模的对象为前轮转向、后轮驱动的智能小车。论文采用机理分析和实验测试相结合的方法，建立了该智能小车在平面上运动的双输入双输出模型。根据小车运行和控制特点，输入量选取智能小车的舵机控制信号和电机控制信号，分别控制车辆转向和前进速度，输出量选取智能小车任意时刻在平面上的坐标。首先通过机理分析得到智能小车的模型结构，舵机模型为带延迟的一阶微分方程，电机模型为一阶微分方程，在转向时需要在电机模型中加入前轮转向对速度的影响，然后，通过运动学分析建立智能小车的整车模型结构。其次，通过实验测试获取不同情况下小车运行数据。接着运用最小二乘法估计出模型中的未知参数。将得到的模型和实际小车行驶情况进行对比，验证了此模型的有效性和可靠性。关键词：智能车；建模；参数估计ABSTRACTThisstudyoriginsfromtheSmartCarCompetitionforNationalUniversityStudents,andthemodellingobjectisafour-wheelelectricsmartcar.Themechanismanalysismethodandexperimentalmodellingmethodareemployedtoestablishatwo-inputtwo-outputmathematicalmodelforasmartcar.Theinputofthemodelisservocontrolsignalandmotorcontrolsignal,whichrespectivelycontrolsthesmartcar’sturningandspeed,andtheoutputofthismodeliscomplanatecoordinateofthesmartcar,whichhastwodegreeoffreedom.Firstly,themodelstructureisobtainedbyusingmechanismanalysismethod.Then,thedataofvariousscenariosforthestepresponsesofthesystemaremeasuredunderdifferentinput.Withleastsquaresmethodapplied,theparametersofthemodelareidentified.Comparingthesimulationresult(usingtheidentifiedmodel)andtheactualexperiencedata(usingthesmartcarrunningwiththesamesetting),wecanseethatthismodelisvalidatedandprovedtobereliable.Keywords:smartcar;modelling;parameterestimation目录第1章绪论.............................................11.1课题背景......................................................................................................11.2研究现状......................................................................................................21.2.1汽车理论...........................................................................................21.2.2系统辨识...........................................................................................31.3本文所作的工作..........................................................................................51.4本文结构......................................................................................................6第2章机理分析确定小车模型结构.........................72.1总述..............................................................................................................72.2舵机模型结构..............................................................................................72.3电机模型结构..............................................................................................92.3.1小车的行驶阻力.............................................................................102.3.2小车的动力供应.............................................................................112.3.3电机模型.........................................................................................132.4小车运动学模型........................................................................................142.5小结............................................................................................................15第3章小车模型参数估计................................173.1总述............................................................................................................173.2舵机模型参数估计....................................................................................173.2.1前轮偏角测量方法.........................................................................173.2.2实验设计.........................................................................................193.2.3数据处理.........................................................................................203.3前轮偏角为0时的电机模型参数估计....................................................243.3.1小车速度测量方法.........................................................................243.3.2实验设计.........................................................................................253.3.3数据处理.........................................................................................253.4前轮偏角对小车速度的影响....................................................................283.5小结............................................................................................................30第4章模型验证........................................314.1使用Simulink搭建模型..........................................................................314.2模型验证....................................................................................................334.3小结............................................................................................................35第5章结论与展望......................................37参考文献................................................40致谢....................................................42附录....................................................431第1章绪论1.1课题背景随着现代科技的飞速发展，人们对智能化的要求也越来越高，车辆的智能化也被提出。智能车通过结合传感器技术和自动驾驶技术，实现汽车的自动驾驶