Jia Hongguang

Platform and steady Kalman state observer design for Intelligent Vehicle based on visual guidance

State observer design is one of key technologies in research field of intelligent vehicle. Experiment platform, visual guidance intelligent vehicle JLUIV-5, is established by Jilin University Intelligent Vehicle Group firstly. The system structure and assistant navigation control system, and different image identify algorithms to recognize preview path and stops for variable illuminations are introduced. The dynamic response equation of steering control system was got by system identification experiment. By combined with the preview kinematics model, and two-degree steering dynamic model of vehicle, the steering Kalman filter mathematics model based on preview kinematics for intelligent vehicle was obtained. And observer is designed by applying steady Kalman filter theory. The simulation and experiment results, carry out in Jilin University Nanling Campus and Culture Center of Jilin Province, show that the image identify algorithms, and steady Kalman state observer designed by the proposed method has good adaptability for time-varying and parameters uncertain, it can satisfy intelligent vehicle trace the path reliably during outdoor experiment.

Study on navigation control method for CyberCar based on machine vision

The guiding principle and composition of CyberCar based on machine vision was introduced. Applying IM sequence signals as input response signals and least squares method to establish the dynamic equation for CyberCar steering system by system identification experiments firstly, and then combined with the preview kinematics model and two-degree steering dynamic model of vehicle. Therefore, the steering control mathematics model based on preview kinematics for CyberCar was established. And then the switching hyper plane is designed by applying the optimal control theory, during the change of the curve curvature radius is little, the curve tracking of the intelligent vehicle is carried out by adopting sliding variable structure controller. Aim at the parameter uncertainty of tire, a vehicle steering system uncertain model was founded and analyzed. A Hx optimal controller is designed with the method of Hx control theory to solve the problem about model uncertainty. The simulation and experiment results show that the controller designed by the proposed method has good robustness and adaptability; it can trace the path steadily and reliably.

Robust Optimal Control Technology for Four-wheel Steering Vehicle

Establish the two degree of freedom model of four-wheel steering vehicle. A H2 optimal controller and Kalman filter is designed when the control mathematics model is certainty. Aim at the parameter uncertainty of tire, a four-wheel vehicle steering system uncertain model was founded and analyzed. A Hinfin optimal controller is designed with the method of Hinfin control theory to solve the problem about model uncertainty. The simulation results show that the controller designed by the proposed method has good robustness, adaptability and stability; it can easily attenuate the model uncertainty and also has the strong ability to resist the disturbance.

Dynamic coupling analysis and modeling for stabilized platform of rolling-pitching seeker

Missiles attitude change will be delivered to visual axis through stabilized platform during maneuvering flight, and the missile vibration will be an interference source to visual axis stabilization. In order to solve this problem, the coupling relationship between missile attitude and visual axis is obtained by Coordinate transformation. When the seeker stably tracks a target, the angular velocity of visual axis in inertial space is zero, so the relative angular velocity of roll axis and pitch axis can be derived for servo control. According to Oura dynamics equation, the dynamic models of roll axis and pitch axis were established and kinetic equations of two axises were obtained. The dynamic models can provide theoretical basis to developing research of servo control system and structural optimization design of stabilized platform. Finally, some measures could reduce the dynamic coupling between the framework was given.

The parameter optimization of missile actuator based on spatial RSSR linkage mechanism

Analyzed the forms of movement of missile actuator based on spatial RSSR linkage mechanism. To achieve synchronic output of each axis, applied the multi-body dynamic application ADAMS to realize its parametric modeling and optimization, finally got the appropriate parameters to satisfy the performance. Then, researched the parameters affection to synchronic performance completed the initial design of the actuator transmission system.