摘要
考虑低速行驶工况下的重型车辆,本文建立其纵向行驶驱/制动系统的非线性动力学方程．在此基础上采用反馈线性化方法将驱/制动工况下的非线性系统转化为线性可控正则型,并针对制动工况下非线性系统存在的控制时滞,提出一种基于非线性SMITH预估方法的反馈线性化变换,该变换在有效补偿控制时滞同时,实现了制动系统的线性可控正则型转换．最后,分别基于驱/制动系统的线性可控正则型设计跟踪控制器,实现了车辆低速工况的加/减速度精确跟踪控制．
First, a traction/brake subsystem nonlinear equation of longitudinal dynamics is deduced for the heavy-duty vehicular cruise control systems on the low-speed condition. Based on the equation, a feedback linearization method is utilized to convert the nonlinear system into a linear controllable normal form. Second, in order to eliminate the influence of control time delay in the nonlinear brake subsystem, a new feedback linearization transformation based on the nonlinear SMITH predictive theory is proposed. By adopting the new transformation, not only the control time delay can be compensated for effectively, but also the conversion of linear controllable normal form is realized. At last, based on the linear controllable form of traction/break system respectively, two controllers are designed to obtain precise acc/deceleration tracking on the low-speed condition.
出处
《自动化学报》
EI
CSCD
北大核心
2007年第3期265-272,共8页
Acta Automatica Sinica
基金
清华大学-五十铃汽车公司国际合作项目(0507J68)资助~~
