智能车辆队列纵向控制系统的建模与实验研究

发布时间：2018-01-22 18:08

本文关键词： 纵向控制模糊控制实时仿真队列控制分层控制器　出处：《贵州大学》2015年硕士论文　论文类型：学位论文

【摘要】：本文研究了车辆队列纵向控制的基本理论、控制方法和实验手段,开展了建模、控制器设计和实验研究,为车辆队列系统控制提供理论基础和技术支撑。本文主要研究内容包括:车辆队列控制系统的研究及评价是基于系统仿真或实验结果进行的,作为仿真评价或实验结果分析的基础,需要建立比较准确的车辆纵向动力学模型。本文车辆纵向动力学系统仿真模型,充分考虑了发动机、液力变矩器、自动挡位切换、制动系统以及车辆整车运动系统模型等非线性因素的影响,从而为模拟车辆纵向行驶多工况下的实时仿真实验打下基础。其次,建立分层结构框架的车辆队列纵向控制系统,包含上位控制系统和下位控制系统。本文通过对比以往学者在不同控制策略对车辆队列行驶稳定性影响建立上位控制器,既要保证车辆队列行驶的串稳定性,又要保证队列交通流稳定性。对于下层控制系统主要由油门模糊控制器、制动模糊控制器以及油门/制动协调切换控制系统组成。利用Simulink搭建相应的车辆模型与纵向控制模型,进行车辆跟随等典型工况下的仿真实验。最后,在获得较好的离线仿真效果后基于dSPACE建立油门与制动协调切换控制仿真平台。利用代码自动生成和下载软件将控制算法下载到dSPACE MicroAutobox II控制平台进行油门与制动踏板协调控制实时仿真研究。在此基础上基于dSPACE建立一个车辆纵向控制的实时仿真验证平台,设置多种典型交通状况如车辆加速、减速以及匀速工况对被控车辆进行简单的纵向控制实验。实验结果表明,所设计的队列纵向控制系统比较好的完成对实车纵向速度上跟随控制且控制效果较好。
[Abstract]:In this paper, the basic theory, control methods and experimental methods of longitudinal control of vehicle queue are studied, and the modeling, controller design and experimental research are carried out. The main contents of this paper are as follows: the research and evaluation of vehicle queue control system is based on system simulation or experimental results. As the basis of simulation evaluation or analysis of experimental results, it is necessary to establish a more accurate vehicle longitudinal dynamics model. In this paper, the vehicle longitudinal dynamics system simulation model, fully consider the engine, hydraulic torque converter. The influence of the nonlinear factors such as automatic gear switch, braking system and vehicle motion system model, which can be used to simulate the real-time simulation of the vehicle under multiple longitudinal driving conditions. Secondly. The longitudinal control system of vehicle queue with hierarchical structure frame is established. In this paper, by comparing the influence of different control strategies on the stability of vehicle queue, we establish the upper controller to ensure the string stability of the vehicle queue. For the lower control system, the throttle fuzzy controller is used. The brake fuzzy controller and the throttle / brake coordinated switching control system are composed. The corresponding vehicle model and longitudinal control model are built by using Simulink. The simulation experiments are carried out under typical working conditions such as vehicle following. Finally. After obtaining better off-line simulation effect, the simulation platform of throttle and brake coordinated switching control was established based on dSPACE. The control algorithm was downloaded to dSPACE by code automatic generation and download software. MicroAutobox. II control platform for real-time simulation of throttle and brake pedal coordinated control. Based on this, a vehicle longitudinal control real-time simulation verification platform is established based on dSPACE. A variety of typical traffic conditions such as acceleration, deceleration and uniform speed conditions are set up for the controlled vehicle longitudinal control experiment. The experimental results show that. The designed queue longitudinal control system has better control effect on the actual vehicle longitudinal speed following.
【学位授予单位】：贵州大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U495;U463.6;TP273

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