發(fā)布時(shí)間：2018-04-12 14:42

  本文選題：縱向車隊(duì) + 雙耦合滑模控制��； 參考：《大連海事大學(xué)》2017年碩士論文

【摘要】：隨著環(huán)境污染、資源浪費(fèi)以及交通堵塞等社會(huì)問題的日益加劇,集多種高新科技于一體的自動(dòng)化公路系統(tǒng)便應(yīng)運(yùn)而生。實(shí)現(xiàn)公路系統(tǒng)的自動(dòng)化不僅可以大大提高公路的通行能力和安全性,還可有效減少車輛的燃油消耗和尾氣排放。智能車輛是自動(dòng)化公路系統(tǒng)的主要組成部分,車輛在公路上的運(yùn)動(dòng)形式主要是沿道路縱向行駛。所以,智能車輛的縱向隊(duì)列控制是自動(dòng)化公路系統(tǒng)的一個(gè)重要研究領(lǐng)域。本文將在建立智能車輛數(shù)學(xué)模型的基礎(chǔ)上對車隊(duì)的縱向運(yùn)動(dòng)進(jìn)行控制。主要研究內(nèi)容概括如下:為了保持車隊(duì)的強(qiáng)串穩(wěn)定性,本文首先將雙耦合滑�？刂撇呗詰�(yīng)用在車隊(duì)縱向控制系統(tǒng)中。針對系統(tǒng)模型為二階時(shí),雙耦合滑�？刂撇荒鼙ＷC車隊(duì)的加速度穩(wěn)定跟蹤的問題,本文重新建立了一個(gè)三階車輛模型,然后又分析在該模型下基于雙耦合滑模控制策略控制系統(tǒng)的穩(wěn)定性與強(qiáng)串穩(wěn)定性。最后通過仿真實(shí)驗(yàn)來說明所用策略的有效性。由于模糊控制器的設(shè)計(jì)與被控對象的模型無關(guān),針對雙耦合滑�？刂撇呗詫ο到y(tǒng)模型階數(shù)敏感的問題,本文將三維模糊控制應(yīng)用于車隊(duì)的縱向控制中。又由于高維模糊控制器所需模糊規(guī)則的條數(shù)太多且不易給出,容易造成"維數(shù)風(fēng)暴",本文又提出一種高維模糊控制的降維處理方法,將高維模糊控制器轉(zhuǎn)化成幾個(gè)二維模糊控制器的組合形式。最后,本文又將雙耦合滑模控制中的等效滑�？刂祈�(xiàng)與模糊控制器的輸出項(xiàng)共同作為車輛系統(tǒng)的控制量。并通過仿真比較來說明所用控制方法的有效性。當(dāng)外界因素對車輛系統(tǒng)干擾較大時(shí),所設(shè)計(jì)的雙耦合滑模控制器的切換增益相應(yīng)增大,可能導(dǎo)致控制系統(tǒng)產(chǎn)生抖振。針對該問題本文將模糊系統(tǒng)的萬能逼近特性應(yīng)用在雙耦合滑模控制中,通過建立模糊系統(tǒng)對雙耦合滑�？刂破髦械那袚Q項(xiàng)進(jìn)行模糊逼近,將切換項(xiàng)連續(xù)化,從而達(dá)到降低系統(tǒng)抖振的目的。最后通過仿真結(jié)果分析控制策略的有效性。最后對本文進(jìn)行總結(jié),指出文中不足與今后研究方向。
[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.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：U463.6;U495;TP273

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