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1、基于通信网络的纵向车队控制研究 基于通信网络的纵向车队控制研究 Study on the Control of Longitudinal Platoon Based on the Communication Network【中文摘要】 车辆以车队的方式行驶可以显著的增加高速公路车辆通行流量,保证车队稳定的控制律依靠领车的速度和加速度信息,这些信息由车队无线通信网络传递,而通信网络固有的丢包、延时等缺陷不可避免的会降低车队的性能,这些缺陷却很少被考虑进车队控制器的设计中,所以本文主要研究了领队车辆的信息经过无线通信网络发生丢包、量化与延时情况下纵向车队的控制问题。具体的研究工作分为以下几个方面:
2、首先,介绍了车辆纵向、横向及综合控制的概念,着重分析了纵向车队研究现状。其次,建立了车辆的纵向动态模型及结构模型,考虑领车信息受车队无线通信网络的影响,建立了车队的混合控制模型,所得混合控制模型充分考虑了车队与网络,优化了现有车队模型。再次,考虑车队通信网络存在丢包的情况,提出了保证混合系统均方稳定的定理,并利用LMI条件得到了使系统均方稳定的动态输出反馈控制器的构造方法。考虑领车加速度变化对车队整体性能的影响,把领车加速度变化考虑为干扰因素,设计了网络丢包与干扰同时存在的车队H控制器,仿真验证了控制器的有效性。最后,分析了领车通信网络延时对车队整体稳定性的影响,进一步,考虑车队通信网络量化与
3、延时共存的情况,量化问题转化为不确定性问题,网络诱导延时是有界的,同时考虑了领车加速度变化带来的干扰因素,得到的车队混合模型是存在干扰输入的不确定离散时滞系统,提出了保证系统渐近稳定的定理,设计了有记忆反馈控制器,通过仿真检验了其有效性。【英文摘要】 The throughput of vehicles on highways can be greatly increased by forming vehicle platoons.The control law that maintains stable operation of a platoon is dependent on the l
4、ead vehicles velocity and acceleration transmitted by wireless communication network.Communication networks generally introduce packet dropout and delay.However,these communication faults are not typically taken into account in controller designing.Therefore,this article studies the control problem
5、of longitudinal platoon when the lead vehicle information transmits through the wireless communication network with packet dropout and time-delay.The main research works are as follows:Firstly,give an introduction about the vehicle longitudinal and lateral control and integration control,especially
6、the development of the longitudinal platoon control.Secondly,establish a longitudinal dynamic model of the vehicle and the structure model of a platoon.A hybrid control model is established while considering the lead vehicle information effected by wireless communication network.The hybrid model tak
7、es full account of platoon and network to optimize the exisinting model.Thirdly,packet dropout process is considered when the lead vehicle information transmits through wireless network.A theorem is proposed to ensure the model mean-square stability.The dynamic output feedback controller is construc
8、ted based on a LMI condition.The performance of platoon affected by the acceleration changes from the lead vehicle is considered.A controller is designed with packet dropout and disturbance.At last,the performance of the designed controller is verified by a simulation.Finally,analyze the effects of
9、the lead vehicle communication delay on string stability in vehicle platoon.Furthermore,considering the quantification and network induced delay of the platoon wireless network exist at the same time,the quantification can be considered as an uncertainty and the network induced delay is bound,and co
10、nsidering changes in the lead vehicle acceleration as a disturbance input,the hybrid system is obtained as an uncertain discrete-time system with time-delay.The sufficient condition for asymptotical stability is derived and a robust Hcontroller with memory state feedback is discussed.The effectivene
11、ss of the controller is proved by simulation.【中文关键词】 纵向车队; 网络丢包; 延时; H控制器 【英文关键词】 Longitudinal Platoon; Packet Dropout; Time-delay; HController【论文目录】摘要 5-6 Abstract 6-7 第1章 绪论 10-20 1.1 概述 10-13 1.1.1 纵向控制 11 1.1.2 横向控制 11-12 1.1.3 综合控制 12-13 1.2 研究现状 13-18 1.3 有待解决的问题 18 1.4 本文主要工作及结构 18-20 第2章 纵向车
12、队建模 20-27 2.1 介绍 20-22 2.2 车辆动态模型的建立 22-24 2.3 车队结构模型的建立 24-26 2.4 本章小结 26-27 第3章 通信网络丢包下车队的控制 27-45 3.1 PID车队控制器 27-29 3.2 动态输出反馈控制器的设计 29-32 3.2.1 车队混合模型的建立 29-31 3.2.2 动态输出反馈控制器设计 31-32 3.3 仿真及性能分析 32-40 3.3.1 PID控制器仿真 32-37 3.3.2 动态输出反馈控制器仿真 37-39 3.3.3 仿真结果分析 39-40 3.4 车队H_控制器的设计 40-42 3.5 仿真实验及分析 42-44 3.6 本章小结 44-45 第4章 通信网络量化与延时共存时车队的控制 45-60 4.1 网络延时对车队性能的影响 45-52 4.1.1 车队整体稳定的条件 45-46 4.1.2 网络延时对车队稳定性的影响 46-49 4.1.3 仿真分析 49-52 4.2 量化与延时共存时车队混合模型的建立 52-54 4.3 车队鲁棒H_控制器的设计 54-57 4.4 仿真实验及分析 57-59 4.5 本章小结 59-60 结论 60-61 参考文献 61-66 致谢 66
