基于模糊自适应双耦合滑模的车队纵向控制

发布时间：2018-04-12 14:42

本文选题：纵向车队 + 双耦合滑模控制　；参考：《大连海事大学》2017年硕士论文

【摘要】：随着环境污染、资源浪费以及交通堵塞等社会问题的日益加剧,集多种高新科技于一体的自动化公路系统便应运而生。实现公路系统的自动化不仅可以大大提高公路的通行能力和安全性,还可有效减少车辆的燃油消耗和尾气排放。智能车辆是自动化公路系统的主要组成部分,车辆在公路上的运动形式主要是沿道路纵向行驶。所以,智能车辆的纵向队列控制是自动化公路系统的一个重要研究领域。本文将在建立智能车辆数学模型的基础上对车队的纵向运动进行控制。主要研究内容概括如下:为了保持车队的强串稳定性,本文首先将双耦合滑模控制策略应用在车队纵向控制系统中。针对系统模型为二阶时,双耦合滑模控制不能保证车队的加速度稳定跟踪的问题,本文重新建立了一个三阶车辆模型,然后又分析在该模型下基于双耦合滑模控制策略控制系统的稳定性与强串稳定性。最后通过仿真实验来说明所用策略的有效性。由于模糊控制器的设计与被控对象的模型无关,针对双耦合滑模控制策略对系统模型阶数敏感的问题,本文将三维模糊控制应用于车队的纵向控制中。又由于高维模糊控制器所需模糊规则的条数太多且不易给出,容易造成"维数风暴",本文又提出一种高维模糊控制的降维处理方法,将高维模糊控制器转化成几个二维模糊控制器的组合形式。最后,本文又将双耦合滑模控制中的等效滑模控制项与模糊控制器的输出项共同作为车辆系统的控制量。并通过仿真比较来说明所用控制方法的有效性。当外界因素对车辆系统干扰较大时,所设计的双耦合滑模控制器的切换增益相应增大,可能导致控制系统产生抖振。针对该问题本文将模糊系统的万能逼近特性应用在双耦合滑模控制中,通过建立模糊系统对双耦合滑模控制器中的切换项进行模糊逼近,将切换项连续化,从而达到降低系统抖振的目的。最后通过仿真结果分析控制策略的有效性。最后对本文进行总结,指出文中不足与今后研究方向。
[Abstract]:With the social problems such as environmental pollution, resource waste, traffic jam and so on, the automatic highway system, which integrates many kinds of high and new technology, comes into being.Realizing the automation of highway system can not only greatly improve the traffic capacity and safety of highway, but also effectively reduce the fuel consumption and exhaust emission of vehicles.Intelligent vehicle is the main component of automatic highway system.Therefore, longitudinal queue control of intelligent vehicles is an important research field of automated highway system.In this paper, the longitudinal motion of the motorcade is controlled on the basis of establishing the mathematical model of intelligent vehicle.The main research contents are summarized as follows: in order to maintain the strong string stability of the motorcade, this paper first applies the double-coupling sliding mode control strategy to the longitudinal control system of the motorcade.In view of the problem that the two-coupling sliding mode control can not guarantee the stable tracking of acceleration when the system model is second-order, a third-order vehicle model is re-established in this paper.Then the stability and strong string stability of the control system based on double coupled sliding mode control strategy are analyzed.Finally, the effectiveness of the proposed strategy is demonstrated by simulation experiments.Since the design of the fuzzy controller is independent of the model of the controlled object, aiming at the problem that the two-coupling sliding mode control strategy is sensitive to the order of the system model, this paper applies the three-dimensional fuzzy control to the longitudinal control of the vehicle fleet.Because the number of fuzzy rules needed by high-dimensional fuzzy controller is too many and difficult to give, it is easy to cause "dimension storm". In this paper, a method of reducing dimension of high-dimensional fuzzy control is proposed.The high-dimensional fuzzy controller is transformed into several two-dimensional fuzzy controllers.Finally, the equivalent sliding mode control term in double coupling sliding mode control and the output term of fuzzy controller are taken as the control quantity of vehicle system.Simulation results show the effectiveness of the proposed control method.When the external factors interfere with the vehicle system, the switching gain of the dual-coupling sliding mode controller increases accordingly, which may lead to buffeting of the control system.In this paper, the universal approximation property of fuzzy system is applied to double coupling sliding mode control. By establishing fuzzy system to carry out fuzzy approximation of switching term in double coupling sliding mode controller, the switching term is continuous.In order to reduce the chattering of the system.Finally, the effectiveness of the control strategy is analyzed by simulation results.Finally, this paper is summarized, pointing out the shortcomings of the paper and the future research direction.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U463.6;U495;TP273

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