基于迟滞鲁棒性的自动车队队列稳定性控制

高峰; 肖凌云; 王江峰

基于迟滞鲁棒性的自动车队队列稳定性控制

1.
北京航空航天大学交通科学与工程学院, 北京 100191
2. 国家质检总局缺陷产品管理中心, 北京100088
3. 北京航空航天大学交通科学与工程学院, 北京 100191

基金项目: 教育部博士点基金资助项目(20070006011)

详细信息

中图分类号: U 491.255
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出版历程
- 收稿日期: 2009-09-10
- 网络出版日期: 2010-10-31

Lag-delay robust string stable control of platoon of automated vehicles

1.
School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
2. Defective Product Administrative Center, AQSIQ, Beijing 100088, China
3. School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 基于车辆纵向迟滞动态模型,对自动车队队列稳定性以及控制方法进行分析研究.建立考虑迟滞因素的车辆纵向迟滞动态模型,在此模型的基础上建立基于固定时间间距策略的滑模控制器和比例积分微分(PID,Proportion Integration Differentiation)控制器,然后依据队列稳定性判断准则分别对两种控制器进行队列稳定性分析并分别得到相关的队列稳定性条件.定量比较分析和仿真比较分析结果显示,PID控制器具有更强的迟滞鲁棒性.
- 智能交通系统 /
- 自动车辆 /
- 队列稳定性 /
- 滑模控制 /
- 比例积分微分控制
Abstract: Based on the vehicle longitudinal lag-delay dynamics model, the string stability and the control strategies for the automated platoon of vehicles were analyzed and studied. The vehicle longitudinal lag-delay dynamics model was built under consideration of the time delay and time lag. The sliding model controller and proportion integration differentiation(PID) controller were proposed based on the constant time headway policy. Then, the analysis of string stability for the two controllers were conducted based on the string stable policy and the related string stable conditions were obtained. The comparative quantitative analysis and simulations- analysis demonstrates that the PID controller is more robust against the time delay and time lag.
- intelligent transportation systems /
- automated vehicles /
- string stability /
- sliding model control /
- proportion integration differentiation(PID) control

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参考文献(1)

[1] Xiao Lingyun,Darbha S,Gao Feng.Stability of string of adaptive cruise control vehicles with parasitic delays and lags //Proc of the 11th International IEEE Conf on ITS. Beijing: ,2008:1101-1106 [2] Darbha S,Rajagopal K.A review of constant time headway policy for automatic vehicle following //2001 IEEE ITS Conference Proceedings. Oakland,CA: ,2001:65-69 [3] Rajamani R,Shladover S E.An experimental comparative study of autonomous and co-operative vehicle follower control systems[J].Transportation Research,Part C,Emerging Technologies,2001,9(1):15-31 [4] Liu X,Mahal S,Goldsmith A,et al.Effects of communication delays on string stability in vehicle platoons //2001 IEEE ITS Conference Proceedings.Oakland,USA: ,2001:625-630 [5] Huang S,Ren W.Autonomous intelligent cruise control with actuator delays[J].Journal of Intelligent and Robotic Systems,1998,23:27-43 [6] Yanakiev D,Kanellakopoulos I.Longitudinal control of automated CHVs with significant actuator delays[J].IEEE Transaction of Vehicular Technology,2001,50(5):1289-1297 [7] Rajamani R.Vehicles dynamics and control [M].New York:Springer,2006 [8] Cook P.Conditions for string stability[J].System and Control Letters,2005,54:991-998

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