基于逆控制策略模型的电动车驾驶机器人车速控制*

doi:10.19562/j.chinasae.qcgc.2020.09.004

摘要/Abstract

摘要： 为满足驾驶机器人利用加速踏板行程信号实现对于电动车速度跟随的需求,提出了一种基于逆控制策略模型的车速控制方法。该方法在传统纵向动力学的车速控制回路基础上,引入了车辆控制策略模型,将原有的通过电机转矩控制车速转换为通过加速踏板行程来控制,从而降低了驾驶机器人对原车辆的改造风险,提高了机器人的适用性。转鼓试验结果表明,与人工驾驶相比,本文中提出的控制方法有效提高了车速跟踪精度,误差不超过±1 km/h,满足国家电动车试验标准。

关键词: 电动车驾驶机器人, 逆控制策略模型, 车速控制, 转鼓试验

Abstract: For meeting the requirements of driving robot in using accelerator pedal travel to achieve the speed following of electric vehicle, a vehicle speed control scheme based on inverse control strategy model is proposed. The scheme introduces the model for vehicle control strategy on the basis of the speed control circuit of traditional longitudinal kinetics, and transforms the original vehicle speed control by electric motor torque into that by accelerator pedal travel, and hence reduces the risk of retrofitting the original vehicle to driving robot and thus enhances robot applicability. The results of dynamometer test show that compared with manual driving, the control method proposed effectively increases the accuracy of vehicle speed tracking with an error not more than±1 km/h, meeting the national standard for electric vehicle test

Key words: electric vehicle driving robot, inverse control strategy model, vehicle speed control, dynamometer test

储灿灿, 王东, 张为公, 许曈. 基于逆控制策略模型的电动车驾驶机器人车速控制^*[J]. 汽车工程, 2020, 42(9): 1166-1173.

Chu Cancan, Wang Dong, Zhang Weigong, Xu Tong. Vehicle Speed Control of Electric Vehicle Driving Robot Based on Inverse Control Strategy Model[J]. Automotive Engineering, 2020, 42(9): 1166-1173.

参考文献

[1] 陈刚,张为公. 基于模糊自适应PID的汽车驾驶机器人的车速控制[J]. 汽车工程, 2012,34(6): 511-516.
CHENG Gang,ZHANGWeigong. Speed control of vehicle robot eriver based on adaptive fuzzy PID control[J]. Automotive Engineering, 2012,34(6): 511-516.
[2] 薛金林,张为公,龚宗洋. 基于驾驶机器人操纵的车辆起步质量研究[J]. 汽车技术,2009(7): 9-13.
XUE Jinglin,ZHANG Weigong,GONG Zongyang. Research on starting-up quality of vehicles based on robot driver manipulation[J]. Automobile Technology, 2009(7): 9-13.
[3] 陈晓冰,张为公,张丙军. 汽车驾驶机器人车速跟踪控制策略研究[J]. 中国机械工程, 2005(18): 1669-1673.
CHENG Xiaobing,ZHANG Weigong,ZHANG Bingjun. Study on speed tracking control strategy for robot driver on chassis dynamometer[J]. China Mechanical Engineering, 2005(18): 1669-1673.
[4] 朱大吉. 基于状态观测的纯电动汽车纵向车速控制[D].长春:吉林大学, 2017.
ZHU Daji. Longitudinal speed control for electric vehicles based on state observation[D].Changchun: Jilin University,2017.
[5] 时军辉. 纯电动城市客车驱动控制策略优化研究[D].北京:北京理工大学, 2016.
SHI Junhui. Study on the optimization of driving control strategy for pure electric urban bus[D].Beijing: Beijing Institute of Technology,2016.
[6] ZHANG D, JIANG J. A reliable speed controller for suppressing low frequency concussion of electric vehicle[J]. Microelectronics Reliability, 2018, 88-90: 1256-1260.
[7] LI S B, LI K, WANG J. Economy-oriented vehicle adaptive cruise control with coordinating multiple objectives function[J]. Vehicle System Dynamics, 2013, 51(1): 1-17.
[8] ZHOU J, PENG H. Range policy of adaptive cruise control vehicles for improved flow stability and string stability[J]. IEEE Transactions on Intelligent Transportation Systems, 2005, 6(2): 229-237.
[9] 朱敏. 智能车辆纵向速度跟踪与控制方法研究[D].北京:北京理工大学, 2016.
ZHU Min. Longitudinal speed tracking and control method for intelligent vehicles[D]. Beijing: Beijing Institute of Technology,2016.
[10] 王艺,蔡英凤,陈龙,等. 基于模型预测控制的智能车辆路径跟踪控制器设计[J]. 汽车技术, 2017(10): 44-48.
WANG Yi,Cai Yingfeng,CHENG Long,et al. Design of intelligent vehicle path tracking controller based on model predictive control[J]. Automobile Technology, 2017(10): 44-48.
[11] 王艺,蔡英凤,陈龙,等. 基于模型预测控制的智能网联汽车路径跟踪控制器设计[J]. 机械工程学报, 2019, 55(8): 136-144.
WANG Yi,CAI Yingfeng,CHENG Long,et al. Design of intelligent and connected vehicle path tracking controller based on model predictive control[J]. Journal of Mechanical Engineering, 2019, 55(8): 136-144.
[12] ZENG Z, LU H, ZHENG Z. High-speed trajectory tracking based on model predictive control for omni-directional mobile robots[C]. IEEE, 2013.
[13] 侯月明. 电动汽车定速巡航控制策略的研究[D].哈尔滨:哈尔滨工业大学, 2011.
HOU Yueming. Research on cruise control strategy of electric vehicle[D]. Harbin: Harbin Institute of Technology,2011.
[14] 何倩,张为公,王东,等. 电动车驾驶机器人控制器参数自学习方法研究[J].测控技术,2019,38(7):13-18.
HE Qian,ZHANG Weigong,WANG Dong, et al. Research on self-learning method of controller parameters for electric vehicle driving robot[J]. Measurement & Control Technology,2019,38(7):13-18.
[15] 全国汽车标准化技术委员会. 电动汽车能量消耗率和续驶里程试验方法:GB/T 18386—2017[S]. 北京:中国标准出版社,2017.
National Technical Committee of Auto Standardization. Electric vehicle energy consumption rate and driving range test method: GB/T 18386—2017[S]. Beijing: Standards Press of China,2017.

基于逆控制策略模型的电动车驾驶机器人车速控制^*

Vehicle Speed Control of Electric Vehicle Driving Robot Based on Inverse Control Strategy Model

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 0

Metrics

本文评价

推荐阅读 10