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针对自主式车队建模与控制这一重要课题,建立了包含路面坡度和风力因素的非线性车辆动力学模型,进而基于反馈线性化方法提出一种对坡度和风速变化具有一定适应能力的非线性PID控制算法,并给出了一种可以克服燃油和传输延时的控制器设计方法以及可允许的延时上限.所得的非线性模型在很大程度上完善了现有的车辆动力学模型.仿真实验表明,该控制方法不但可实现车队的稳定运行控制,而且使车队控制效果大大改善.
Aiming at the important issue of autonomous fleet modeling and control, a nonlinear vehicle dynamics model including pavement slope and wind factors is established. Based on the feedback linearization method, a nonlinear model with adaptive ability to gradient and wind speed changes is proposed PID control algorithm and a controller design method that can overcome the fuel and transmission delay as well as the upper limit of the allowable delay.The nonlinear model obtained is greatly improved the existing vehicle dynamics model. Simulation results show that this control method can not only realize the stable operation control of the fleet, but also greatly improve the control effect of the fleet.