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Nonlinear truck trailer system fuzzy control method based on event trigger mechanism

An event-triggered and fuzzy control technology, applied in the control field of truck trailer system, can solve the problems of reducing the transmission data and changing the operating environment of model parameters, so as to reduce the transmission data, suppress the time-varying and time-delay characteristics, and achieve good stability. Effect

Inactive Publication Date: 2018-04-27
CHONGQING UNIV
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Problems solved by technology

[0004] In view of this, the purpose of the present invention is a kind of fuzzy control method based on the nonlinear truck-trailer system of event-triggered mechanism, to effectively solve the internal multi-state characteristics of the truck-trailer system, and the uncertainty of model parameters and operating environment in the system Constantly changing and other problems, obtain ideal dynamic characteristics, have certain robustness to system parameters and external interference signal changes, make the system have good stability; and can effectively suppress the time-varying time-delay characteristics of the truck trailer system, Reduce the transmission data in the network and reduce the burden of network bandwidth occupancy

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[0050] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0051] A fuzzy control method for a nonlinear truck-trailer system based on an event-triggered mechanism, including the following steps:

[0052] Step 1. Establish a dynamic mathematical model of the truck trailer system:

[0053]

[0054] In the formula, L is the length of the trailer, in m; l is the length of the truck, in m, is the constant speed in reverse, the unit is m / s; is the sampling time, the unit is s; is the system initial time, the unit is s; is the acceleration due to gravity, in m / s 2 .

[0055] make The T-S fuzzy controller is designed using the following fuzzy rules:

[0056] Rule 1:

[0057] If θ(t)≈0,

[0058] So

[0059] z(t)=D 1 x(t)+E 1 u(t)+F 1 w(t);

[0060] Rule 2:

[0061] If θ(t)≈±π,

[0062] So

[0063] z(t)=D 2 x(t)+E 2 u(t)+F 2 w(t);

[0064] where x(t)=[x 1 (t)x 2 (t)x 3 (t)] T , w(t)=...

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Abstract

The invention discloses a nonlinear truck trailer system fuzzy control method based on an event trigger mechanism. The method comprises the steps that a dynamic mathematical model of a truck trailer system is established; 2 an event trigger condition of the truck trailer system is set based on the event trigger mechanism, and a fuzzy controller of the truck trailer system is constructed; and 3 a fuzzy control law u (t) transmits a control signal command to an actuator of the system through an event triggering device to realize control. According to the nonlinear truck trailer system fuzzy control method based on the event trigger mechanism, a relatively ideal dynamic characteristic is acquired; the method is robust to the change of the parameters of the system and external disturbance signals, so that the system is stable; in addition, due to the introduction of an event-triggered communication mechanism, the time-varying delay characteristic of the truck trailer system is effectivelysuppressed, and transmission data in a network are reduced; and the burden of the bandwidth occupancy rate of the network is reduced.

Description

technical field [0001] The invention relates to the technical field of nonlinear system control, in particular to a control method of a truck trailer system. Background technique [0002] The truck-trailer system is a typical multivariable, nonlinear and unstable dynamic system. In actual situations, in order to successfully drive to the desired position, the driver has to try many times to move backward, forward, backward again, forward again, etc. to finally reach the ideal position, and its control is a relatively difficult task. In addition, it is very important to ensure the stability of the control system. Although methods based on various classical linear control theories and advanced control theories have been proposed, due to the internal multi-state characteristics of the truck trailer system and the existence of models in the system The general linear control theory is no longer applicable to problems such as the uncertainty of parameters and the constantly chang...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 苏晓杰文瑶刘鑫鑫杨荣妮
Owner CHONGQING UNIV
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