發(fā)布時(shí)間：2018-01-22 18:08

  本文關(guān)鍵詞： 縱向控制 模糊控制 實(shí)時(shí)仿真 隊(duì)列控制 分層控制器　出處：《貴州大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：本文研究了車輛隊(duì)列縱向控制的基本理論、控制方法和實(shí)驗(yàn)手段,開展了建模、控制器設(shè)計(jì)和實(shí)驗(yàn)研究,為車輛隊(duì)列系統(tǒng)控制提供理論基礎(chǔ)和技術(shù)支撐。本文主要研究內(nèi)容包括:車輛隊(duì)列控制系統(tǒng)的研究及評(píng)價(jià)是基于系統(tǒng)仿真或?qū)嶒?yàn)結(jié)果進(jìn)行的,作為仿真評(píng)價(jià)或?qū)嶒?yàn)結(jié)果分析的基礎(chǔ),需要建立比較準(zhǔn)確的車輛縱向動(dòng)力學(xué)模型。本文車輛縱向動(dòng)力學(xué)系統(tǒng)仿真模型,充分考慮了發(fā)動(dòng)機(jī)、液力變矩器、自動(dòng)擋位切換、制動(dòng)系統(tǒng)以及車輛整車運(yùn)動(dòng)系統(tǒng)模型等非線性因素的影響,從而為模擬車輛縱向行駛多工況下的實(shí)時(shí)仿真實(shí)驗(yàn)打下基礎(chǔ)。其次,建立分層結(jié)構(gòu)框架的車輛隊(duì)列縱向控制系統(tǒng),包含上位控制系統(tǒng)和下位控制系統(tǒng)。本文通過對(duì)比以往學(xué)者在不同控制策略對(duì)車輛隊(duì)列行駛穩(wěn)定性影響建立上位控制器,既要保證車輛隊(duì)列行駛的串穩(wěn)定性,又要保證隊(duì)列交通流穩(wěn)定性。對(duì)于下層控制系統(tǒng)主要由油門模糊控制器、制動(dòng)模糊控制器以及油門/制動(dòng)協(xié)調(diào)切換控制系統(tǒng)組成。利用Simulink搭建相應(yīng)的車輛模型與縱向控制模型,進(jìn)行車輛跟隨等典型工況下的仿真實(shí)驗(yàn)。最后,在獲得較好的離線仿真效果后基于dSPACE建立油門與制動(dòng)協(xié)調(diào)切換控制仿真平臺(tái)。利用代碼自動(dòng)生成和下載軟件將控制算法下載到dSPACE MicroAutobox II控制平臺(tái)進(jìn)行油門與制動(dòng)踏板協(xié)調(diào)控制實(shí)時(shí)仿真研究。在此基礎(chǔ)上基于dSPACE建立一個(gè)車輛縱向控制的實(shí)時(shí)仿真驗(yàn)證平臺(tái),設(shè)置多種典型交通狀況如車輛加速、減速以及勻速工況對(duì)被控車輛進(jìn)行簡(jiǎn)單的縱向控制實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明,所設(shè)計(jì)的隊(duì)列縱向控制系統(tǒng)比較好的完成對(duì)實(shí)車縱向速度上跟隨控制且控制效果較好。
[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.
【學(xué)位授予單位】：貴州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：U495;U463.6;TP273

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本文編號(hào)：1455385