新能源汽车定速自适应控制技术
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摘要
新能源汽车定速行驶过程中容易出现抖振和行驶轨迹偏离,为了提高新能源汽车定速控制稳定性,提出基于模糊PID的新能源汽车定速自适应控制技术。构建新能源汽车定速控制结构模型,以汽车行驶的方位角、加速度、速度以及偏转向量等参数为约束指标,采用变结构模糊控制方法构建新能源汽车定速控制对象模型,采集新能源汽车定速行驶的惯性参量,根据汽车定速行驶的惯性输出以及力矩特征参数构建汽车行驶的动力学模型,根据动力平衡原理进行控制模型参量的最优求解,结合偏离误差进行自适应修正,提高控制稳定性。仿真结果表明,采用该方法进行新能源汽车定速自适应控制的输出稳定性较好,响应时间较短,控制品质较高。
In order to improve the stability of fixed speed control of new energy vehicles,buffeting and track deviation are easy to occur in the process of driving at a fixed speed.In this paper,a new energy vehicle speed adaptive control technology based on fuzzy PID is proposed.The fixed speed control structure model of new energy vehicle is constructed.The parameters such as azimuth,acceleration,speed and deflection vector are taken as the constraint index.The variable structure fuzzy control method is used to construct the fixed speed control object model of the new energy vehicle,and the inertia parameters of the new energy vehicle are collected.According to the inertia output and torque characteristic parameters of the vehicle driving at a fixed speed,the dynamic model of the vehicle is constructed,and the optimal solution of the control model parameters is carried out according to the principle of dynamic balance,and the adaptive correction is carried out according to the deviation error.The simulation results show that the output stability is good and the control quality is high.
In order to improve the stability of fixed speed control of new energy vehicles,buffeting and track deviation are easy to occur in the process of driving at a fixed speed.In this paper,a new energy vehicle speed adaptive control technology based on fuzzy PID is proposed.The fixed speed control structure model of new energy vehicle is constructed.The parameters such as azimuth,acceleration,speed and deflection vector are taken as the constraint index.The variable structure fuzzy control method is used to construct the fixed speed control object model of the new energy vehicle,and the inertia parameters of the new energy vehicle are collected.According to the inertia output and torque characteristic parameters of the vehicle driving at a fixed speed,the dynamic model of the vehicle is constructed,and the optimal solution of the control model parameters is carried out according to the principle of dynamic balance,and the adaptive correction is carried out according to the deviation error.The simulation results show that the output stability is good and the control quality is high.
引文
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[2] WANG Y G,SHAO H H.PID Auto-Tuner Based on Sensitivity Specification[J].Chemical Engineering Research and Design,2000,78(2):312-316.
[3] ZHANG J M,SUN C Y,ZHANG R M,et al.Adaptive sliding mode control for re-entry attitude of near space hypersonic vehicle based on backstepping design[J].IEEE/CAA Journal of Automatic Sinica,2015,2(1):94-101.
[4] 司媛媛,何斌.基于 CPG 和小脑模型的双足机器人行走控制 [J].系统仿真技术,2017,13(1):6-10.
[5] TANG L,WANG J,ZHENG Y,et al.Design of a cable-driven hyper-redundant robot with experimental validation[J].The International Journal of Advanced Robotic Systems,2017,14(5):1-12.
[6] LIU J C,CHEN N,YU X.Modified two-degrees-of-freedom internal model control for non-square systems with multiple time delays[J].J of Harbin Institute of Technology,2014,21(2):122-128.
[7] JING Q B,HAO F,WANG Q.A multivariable IMC-PID method for non-square large time delay systems using NPSO algorithm[J].J of Process Control,2014,23(5):649-663.
[8] Chiranjeeevi T,Vijetha I V V,Chakravarthi B,et al.Tuning and control of multi-variable systems[J].Int J of Electronics and Electrical Engineering,2014,2(4):309-320.
[9] 彭程,白越,乔冠宇,等.四旋翼无人机的偏航抗饱和与多模式 PID 控制 [J].机器人,2015,37(4):415-423.
[10] 杜立夫,蔡高华,黄万伟,等.高超声速再入飞行器抗饱和控制系统设计 [J].航天控制,2016,34(2):9-14.
[11] Tarbouriech S,da Silva Jr J M G,Queinnec I.Stability and stabilization of linear systems with saturating actuators[M].Berlin,Germany:Springer,2011.
[12] Samano A,Castro R,Lozano R,et al.Modeling and stabilization of a multi-rotor helicopter[J].Journal of Intelligent & Robotic Systems,2013,69(1-4):161-169.
[13] Kothare M V,Campo P J,Morari M,et al.A unified framework for the study of antiwindup designs[J].Automatica,1994,30(12):1869-1883.
[14] Ngoc P H A.Stability of positive differential systems with delay[J].IEEE Transactions on Automatic Control,2013,58(1):203-209.
[15] XIANG M,XIANG Z R,KARIMI H R.Stabilization of positive switched systems with time-varying delays under asynchronous switching[J].International Journal of Control,Automation and Systems,2014,12(5):939-947.