摘要
本文提出车辆坡道行驶的预见性时滞控制有效性概念,建立基于负时滞控制有效性的车辆坡道预见性驾驶的动力学控制模型,给出稳定控制的有效性判据.根据有效性控制理论,推导坡道前变速行驶的动力学特征方程,得到上坡和下坡预见性驾驶有效性控制参数范围.仿真结果表明,控制系统的有效性控制参数由不等式交集组成,与转弯系数、风阻系数和负时滞有关.选取合适的控制参数和时滞,有效设计冲坡(下坡)速度,减少油耗,实现无人驾驶车辆的生态驾驶.
The concept of predictive delay control effectiveness for vehicle ramp driving is proposed.A dynamic control model of predictive vehicle ramp driving based on negative delay control effectiveness is established,and the validity criterion of stability control is given.The dynamic characteristic equation of variable speed driving before the ramp is derived,and the range of predictive driving effectiveness control parameters on uphill and downhill slopes is obtained according to the effectiveness control theory.The simulation results show that the effective control parameters of the control system consist of the intersection of inequalities and are related to turning coefficient,wind resistance coefficient and negative time delay.The effectively design slope(downhill)speed can reduce fuel consumption,and realize ecological driving of driverless vehicles by selecting appropriate control parameters and time delays.
作者
刘灿昌
孙亮
Liu Canchang;Sun Liang(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255000,China)
出处
《动力学与控制学报》
2023年第8期92-98,共7页
Journal of Dynamics and Control
基金
山东省自然科学基金资助项目(ZR2021ME122)。
关键词
时滞
坡道驾驶
预见性驾驶
控制
time delay
ramp driving
predictive driving
control
