电动汽车纵向速率跟踪控制的方法研究

发布时间：2018-01-07 11:23

本文关键词：电动汽车纵向速率跟踪控制的方法研究　出处：《哈尔滨工业大学》2014年硕士论文　论文类型：学位论文

【摘要】：汽车保有量的猛增、能源危机的加深、环境污染的恶化以及科学技术的发展使得智能交通系统成为未来交通系统的发展趋势。同时，新能源汽车以其优异的节能环保特性受到越来越多的关注和青睐。作为智能交通系统中的关键技术之一，纵向速率跟踪控制具有十分重要的研究价值和意义。于是，本文以纯电动汽车为研究对象，分析探讨了纵向速率跟踪控制在其上的实现问题。本文在建立了纵向速率跟踪控制系统模型的基础上，应用模型预测控制方法进行了控制器设计，最后为实现纵向速率跟踪控制做了相关的软、硬件设计。在建模过程中，分别完成了车辆纵向动力学模型、电机系统模型和传动系统模型三个子模型的建立，在适当的假设的基础上得到了纵向速率跟踪控制系统的简化模型，并通过车辆动力学实时仿真软件veDYNA对模型的准确性进行了验证。在进行控制器的设计时，经过分析得出纵向速率跟踪控制是一个具有非线性且约束时变特征的控制问题，于是，，本文采用模型预测控制方法进行了在线控制器的设计，并在多种工况下进行了仿真，验证了控制器的有效性。由于在线控制器无法在实际车辆上得以实现，本文又采用模型预测控制方法借助Matlab的多参数规划工具箱（MPT）设计了显式控制器并进行了仿真验证，仿真结果表明，单一的显式控制器具有很好的控制性能，但对于模型中的前车加速度参数依赖性较强，鲁棒性较差。为解决单一的显式控制器鲁棒性差的问题，针对多种前车加速度值分别设计了多个显式控制器，通过判断前车的加速度范围而选择对应的控制器。最后，本文给出了纵向速率跟踪控制器的硬件设计方案和软件设计方案，完成了硬件电路原理图、PCB图的设计，以及相关的软件设计及调试。
[Abstract]:The explosion in car ownership, the deepening of the energy crisis, the deterioration of environmental pollution and the development of science and technology makes the intelligent transportation system has become the future development trend of traffic system. At the same time, new energy vehicles for its excellent characteristics of energy saving and environmental protection have attracted more and more attention and favor. As one of the key technologies in the intelligent traffic system, longitudinal speed tracking control has very important research value and significance. Then, the YISHION electric vehicle as the research object, analyzed the realization problem of vertical rate tracking control on it.
Based on the establishment of the longitudinal rate tracking control system model, the controller is designed by using the model predictive control method. Finally, the related hardware and software designs for longitudinal rate tracking control are done.
In the process of modeling, the vehicle longitudinal dynamics model were completed, a motor system model and the model of the transmission system of three sub models, based on appropriate assumptions on the simplified model of the longitudinal speed tracking control system, and verified by veDYNA real-time simulation of vehicle dynamics software on the accuracy of the model.
In the design of the controller is obtained through the analysis of longitudinal velocity tracking control is a control problem, nonlinear and time-varying characteristics and constraints, the model predictive control method for the design of online controller, and simulation is made under various conditions to verify the effectiveness of the controller. The controller can not be online in the actual vehicle, this paper uses the model predictive control method based on multi parametric programming toolbox of Matlab (MPT) explicit controller was designed and simulated. The simulation results show that the explicit single controller has good control performance, but for the first vehicle acceleration parameter in the model dependent strong, robust poor. In order to solve the problem of explicit controller robustness of the single, for a variety of vehicle acceleration value are designed more explicit controller, through the judgment The acceleration range of the front car chooses the corresponding controller.
Finally, the hardware design and software design of the longitudinal rate tracking controller are given. The hardware circuit schematic diagram, the design of the PCB diagram, and the related software design and debugging are completed.

【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U469.72;U495

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