摘要
在分析非线性车辆纵向动力学模型及简化模型基础上,采用一种简化非线性模型设计自适应油门控制器,并应用李亚普诺夫理论证明了传动系统存在动态过程时控制系统的稳定性。通过对基于简化线性和非线性模型的自适应控制器的仿真研究,结果表明后者具有更好的收敛性。试验结果也进一步表明,基于非线性模型的自适应控制器可以通过自适应调节减小参数不确定造成的干扰,当传动系统存在动态过程时可以保证车速跟踪误差有界。
Based on the analysis of vehicle longitudinal dynamics model and its simplified model, an adaptive throttle controller is designed using a simplified nonlinear model. It is proved by using Lyapunov stability theory that the control system is stable in the presence of dynamic process in powertrain. Adaptive controllers based on simplified linear and nonlinear models are studied by simulation and the results show that the latter has better property of convergence. And the experiments also show that adaptive throttle controller based on nonlinear model can reduce disturbance arising from parameter uncertainties and make the speed tracking error bounded in the presence of powcrtrain dynamic process.
出处
《汽车工程》
EI
CSCD
北大核心
2005年第4期418-422,共5页
Automotive Engineering
