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建立了集成被控车辆及车辆间纵向行驶动力学特性的新型全速巡航系统模型,针对模型中存在的外界干扰、参数不确定性及非线性特性,提出了一种干扰解耦鲁棒控制方法.该方法首先根据非线性干扰解耦(nonlinear disturbance decoupling,即NDD)原理,实现对模型中确定部分外界干扰的解耦,在此基础上,利用变结构控制(variable structure control,即VSC)中滑动模的不变性特性,消除模型中余下不确定性部分的影响,最后将其应用于纵向行驶车辆全速自适应巡航控制(adaptive cruise control,即ACC)系统,并通过仿真计算验证其控制效果.结果表明,结合NDD原理及VSC方法设计的车辆全速ACC系统,不仅对被控车辆内部各种不确定因素具有良好的鲁棒性能,而且能够较好的消除被控车辆低速走停(stop and go,即SG)工况下的强非线性特性,以及高速行驶中前导车频繁加/减速的外部干扰影响.此外,控制系统结构简单,可实现其控制性能的全局最优化.
A new full-speed cruise control system integrating longitudinal dynamics of vehicles and vehicles is established. Aiming at the external disturbance, parameter uncertainty and nonlinearity in the model, a disturbance decoupling robust control method is proposed. In this method, firstly, the decoupling of some external disturbances in the model is realized according to the principle of nonlinear disturbance decoupling (NDD). On the basis of this, the method of sliding in variable structure control (VSC) Modal invariance and eliminate the influence of the remaining uncertainties in the model. Finally, it is applied to the adaptive cruise control (ACC) system of the vehicle traveling in the longitudinal direction, and its control effect is verified through simulation. Results It shows that the vehicle full speed ACC system designed with NDD principle and VSC method not only has good robustness to various uncertainties inside the controlled vehicle, but also can better eliminate the stop and go of the controlled vehicle, Namely SG) under the condition of the strong non-linear characteristics, as well as high-speed driving the leading car frequent acceleration / deceleration of the external interference.In addition, the control system Simple structure, which may be implemented to optimize the overall control performance.