基于TrueTime的分布式主动转向网络控制的仿真研究

摘要

For revealing the effects of network involvement on system control performance, firstly 2 DOF linear vehicle model and 8 DOF nonlinear vehicle model are set up and an active steering controller is designed based on MATLAB/Simulink and sliding mode control theory. Then a distributed network configuration for active steering control based on CAN network communications is proposed, a network control system model is built by using simulation tool box TrueTime, and a simulation on network control performance with different network service qualities is conducted. The results indicate that different network environments have effects on system control performanee to different extents, the communication delay and data package missing are the main factors of adverse effects caused by network, which have to be considered in system design.%为揭示网络的介入对系统控制性能的影响,首先基于MATLAB/Simulink和滑模控制理论,建立了2自由度线性车辆模型和8自由度非线性车辆模型,设计了主动转向控制器.接着,提出了基于CAN网络通信的分布式主动转向控制网络架构,应用仿真工具箱TrueTime建立了网络控制系统模型,在不同网络服务品质下对网络控制性能进行了仿真分析.结果表明,不同网络环境对系统控制性能具有不同程度的影响,通信负载一定时,通信时延和数据丢包是网络产生不良影响的主要因素,在系统设计时应予以考虑.