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针对协作式车队机动过程中存在燃油或制动延时的情况,建立车辆与车队动力学模型,综合考虑本车与相邻前车间的局部信息及领头车的全局信息,提出协作车队纵向控制策略.从避免Slinky-Effects效应出发,得到车队队列稳定条件,根据Lyapunov-Razumikhin方法证明车队中单车稳定性,并将两者相结合共同确定燃油或制动延时界限.在此基础上,分析车间距稳态误差及车队抖动与碰撞的避免条件,最后通过数字仿真检验上述设计.从仿真结果对比来看,所提出的控制策略具有较好的控制效果.
Aiming at the existence of fuel or brake delay in the process of cooperative fleet maneuvering, the dynamic model of vehicle and fleet is established. Taking into account the local information of the host vehicle and the adjacent former workshop and the global information of the leading vehicle, the longitudinal control strategy In order to avoid the Slinky-Effects effect, the queue stability conditions of the vehicle fleet are obtained, the cycling stability of the fleet is proved according to Lyapunov-Razumikhin method, and the two are combined to determine the limit of fuel or brake delay.Based on this, The steady-state error of the pitch and the avoidance conditions of fleet jitter and collision, and finally the above design is verified by digital simulation.Compared with the simulation results, the proposed control strategy has a good control effect.