195号资源-源程序：无人驾驶汽车模型预测控制（2 3 4 5 6章节程序）----已提供下载资源

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于 2024-10-03 08:15:00 发布

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无人驾驶车辆模型预测控制

本书主要介绍模型预测控制理论与方法在无人驾驶车辆运动规划与跟踪控制中的应用。由于模型预测控制理论数学抽象特点明显，初涉者往往需要较长时间的探索才能真正理解和掌握，而进一步应用到具体研究，则需要更长的过程。本书详细介绍了应用模型预测控制理论进行无人驾驶车辆控制的基础方法，结合运动规划与跟踪控制实例详细说明了预测模型建立、方法优化、约束处理和反馈校正的方法，给出了Malab/ Carsim仿真代码和详细图解仿真步骤。所有代码都提供了详尽的注解，并且融入了研究团队在本领域的研究成果。

部分代码展示：

function [sys,x0,str,ts] = MY_MPCController3(t,x,u,flag)
%   该函数是写的第3个S函数控制器(MATLAB版本：R2011a)
%   限定于车辆运动学模型，控制量为速度和前轮偏角，使用的QP为新版本的QP解法
%   [sys,x0,str,ts] = MY_MPCController3(t,x,u,flag)
%
% is an S-function implementing the MPC controller intended for use
% with Simulink. The argument md, which is the only user supplied
% argument, contains the data structures needed by the controller. The
% input to the S-function block is a vector signal consisting of the
% measured outputs and the reference values for the controlled
% outputs. The output of the S-function block is a vector signal
% consisting of the control variables and the estimated state vector,
% potentially including estimated disturbance states.

switch flag,
 case 0
  [sys,x0,str,ts] = mdlInitializeSizes; % Initialization
  
 case 2
  sys = mdlUpdates(t,x,u); % Update discrete states
  
 case 3
  sys = mdlOutputs(t,x,u); % Calculate outputs
 


 case {1,4,9} % Unused flags
  sys = [];
  
 otherwise
  error(['unhandled flag = ',num2str(flag)]); % Error handling
end
% End of dsfunc.

%==============================================================
% Initialization
%==============================================================

function [sys,x0,str,ts] = mdlInitializeSizes

% Call simsizes for a sizes structure, fill it in, and convert it 
% to a sizes array.

sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 3;
sizes.NumOutputs     = 2;
sizes.NumInputs      = 3;
sizes.DirFeedthrough = 1; % Matrix D is non-empty.
sizes.NumSampleTimes = 1;
sys = simsizes(sizes); 
x0 =[0;0;0];   
global U;
U=[0;0];
% Initialize the discrete states.
str = [];             % Set str to an empty matrix.
ts  = [0.1 0];       % sample time: [period, offset]
%End of mdlInitializeSizes
		      
%==============================================================
% Update the discrete states
%==============================================================
function sys = mdlUpdates(t,x,u)
  
sys = x;
%End of mdlUpdate.

%==============================================================
% Calculate outputs
%==============================================================
function sys = mdlOutputs(t,x,u)
    global a b u_piao;
    global U;
    global kesi;
    tic
    Nx=3;%状态量的个数
    Nu =2;%控制量的个数
    Np =60;%预测步长
    Nc=30;%控制步长
    Row=10;%松弛因子
    fprintf('Update start, t=%6.3f\n',t)
    t_d =u(3)*3.1415926/180;%CarSim输出的为角度，角度转换为弧度

效果展示：