汽车动态导航及其太阳能供电系统研究
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摘要
随着城市车辆的日益增多,交通堵塞已成为世界各国关注的问题。为了有效地缓解交通堵塞,车载导航信息终端系统得到了越来越广泛的研究。本论文以太阳能电池板供电的车载导航终端为研究对象,研究了基于中心导航的汽车动态导航以及车载终端太阳能电池板供电的关键技术,涵盖了电机控制、电力电子、无线通信、人工智能、地理信息系统以及数据库技术等多个学科内容。
论文的主要研究内容如下:
(1)系统介绍了动态导航信息系统的概念及车载太阳能供电伺服系统发展状况和国内外研究现状。
(2)在讨论中心式动态导航系统的基本原理、系统结构和主要功能的基础上,分析了汽车动态导航的若干关键技术,研究并设计了车载单元和导航服务器间的通信协议,该协议参照了NTCIP标准,符合ITS中心计算机到外场设备通信协议(C2F)互换性、互操作性的要求。
(3)为了获取城市大规模路网的交通信息,实现了一种基于FCD的交通速度估计算法,为动态导航的实现提供了数据来源;提出了一种改进的Dijkstra路径搜索算法,算法采用图的弧段-弧段结构表示路网结构,并通过弧段关系存储路网的某些限制性交通信息以及先验信息,提高了搜索效率,解决了城市路网限制性交通信息难以表达的问题。
(4)对于太阳能伺服系统,在分析永磁同步电机(PMSM)数学模型的基础上,研究了神经网络控制技术和模糊控制技术在PMSM控制中的应用。分别讨论了神经网络直接控制、神经网络预测控制和模糊—PI控制等控制策略在PMSM控制中的应用,并在Matlab/Simulink平台上建立了永磁同步电机及其控制器的模型。
(5)讨论了车载太阳能智能导航终端中,伺服系统的构成和实现方法,并建立了永磁同步伺服电机模糊PI控制器的仿真模型,在基于自适应连接权值的基础上,修正PI调节器和模糊控制器的不同控制权值,同时,完成了PMSM控制器的软件和硬件设计,并进行了相关试验和测试。
相关的实验结果表明,论文所提出的中心式动态导航交通信息采集及路径规划算法,以及永磁同步电机伺服系统的设计思想与方法是有效、可行的,能够满足车载智能终端的要求,为具有太阳能供电的车载动态导航终端的推广和使用提供了理论基础。
With the ever-increasing of urban vehicles, many countries in the world pay more and more attention to the traffic jam problems in urban areas. In order to solve the traffic issue, the research of onboard dynamic navigation information terminal has been a quite hot research topic. The onboard intelligent dynamic navigation information terminal with the solar power supply is taken as the research object in this dissertation, in which the key technologies about power supply system with the solar battery and onboard dynamic navigation terminal based on central navigation system are studied. The content of this dissertation involve many disciplines, such as servo control, power electronics, wireless communication, artificial intelligence, geographical information system, and database management technology, etc.
The main contribution is described as follows:
(1) The concept of dynamic navigation information system is introduced. And the development and research status of onboard power supply servo system at home and abroad are presented systematically.
(2) Based on the discuss of basic principle, system structure and main functions of the onboard dynamic navigation system, many key technologies are analyzed, and the communication protocol between the onboard navigation terminal and navigation server is designed, which satisfies the requirement of interchange and inter-operation according to the NTCIP.
(3) A FCD-based traffic speed estimation algorithm is implemented for the large-scale traffic information collection in urban road network, which provides data source for dynamic navigation. A modified arc-based Dijkstra route searching algorithm is proposed, in which a prior knowledge and the restricted traffic information of the road network are represented by the arc relation structure so that the searching efficiency and accuracy are improved.
(4) Neural network and fuzzy theory applied in the control of PMSM servo system are studied. Several control strategy such as direct control by neural network model, predictive control by neural network model, and fuzzy-PI control of PMSM servo system are discussed respectively. In addition, the PMSM controller model is built in Matlab/Simulink.
(5) A simulation model of PMSM fuzzy-PI controller is developed after discussing the structure and executive method of PMSM servo system of the onboard dynamic navigation intelligent terminal with the power supply of solar battery. Based on the self-adaptive connect-weight value theory, the control weight of PI and fuzzy controller are modified. The PMSM controller is designed in software and hardware architecture and related tests are also carried out.
The experimental results show that the proposed methods of the PMSM servo system is effective and reliable, which can meet the power requirement of onboard dynamic navigation terminal. The collection method of central traffic information on dynamic navigation, and the route searching algorithm satisfy the need of actual ITS application. These methods provide theoretical foundation and good reference for application and popularity of onboard dynamic navigation system with the power supply of solar battery in the future.
论文的主要研究内容如下:
(1)系统介绍了动态导航信息系统的概念及车载太阳能供电伺服系统发展状况和国内外研究现状。
(2)在讨论中心式动态导航系统的基本原理、系统结构和主要功能的基础上,分析了汽车动态导航的若干关键技术,研究并设计了车载单元和导航服务器间的通信协议,该协议参照了NTCIP标准,符合ITS中心计算机到外场设备通信协议(C2F)互换性、互操作性的要求。
(3)为了获取城市大规模路网的交通信息,实现了一种基于FCD的交通速度估计算法,为动态导航的实现提供了数据来源;提出了一种改进的Dijkstra路径搜索算法,算法采用图的弧段-弧段结构表示路网结构,并通过弧段关系存储路网的某些限制性交通信息以及先验信息,提高了搜索效率,解决了城市路网限制性交通信息难以表达的问题。
(4)对于太阳能伺服系统,在分析永磁同步电机(PMSM)数学模型的基础上,研究了神经网络控制技术和模糊控制技术在PMSM控制中的应用。分别讨论了神经网络直接控制、神经网络预测控制和模糊—PI控制等控制策略在PMSM控制中的应用,并在Matlab/Simulink平台上建立了永磁同步电机及其控制器的模型。
(5)讨论了车载太阳能智能导航终端中,伺服系统的构成和实现方法,并建立了永磁同步伺服电机模糊PI控制器的仿真模型,在基于自适应连接权值的基础上,修正PI调节器和模糊控制器的不同控制权值,同时,完成了PMSM控制器的软件和硬件设计,并进行了相关试验和测试。
相关的实验结果表明,论文所提出的中心式动态导航交通信息采集及路径规划算法,以及永磁同步电机伺服系统的设计思想与方法是有效、可行的,能够满足车载智能终端的要求,为具有太阳能供电的车载动态导航终端的推广和使用提供了理论基础。
With the ever-increasing of urban vehicles, many countries in the world pay more and more attention to the traffic jam problems in urban areas. In order to solve the traffic issue, the research of onboard dynamic navigation information terminal has been a quite hot research topic. The onboard intelligent dynamic navigation information terminal with the solar power supply is taken as the research object in this dissertation, in which the key technologies about power supply system with the solar battery and onboard dynamic navigation terminal based on central navigation system are studied. The content of this dissertation involve many disciplines, such as servo control, power electronics, wireless communication, artificial intelligence, geographical information system, and database management technology, etc.
The main contribution is described as follows:
(1) The concept of dynamic navigation information system is introduced. And the development and research status of onboard power supply servo system at home and abroad are presented systematically.
(2) Based on the discuss of basic principle, system structure and main functions of the onboard dynamic navigation system, many key technologies are analyzed, and the communication protocol between the onboard navigation terminal and navigation server is designed, which satisfies the requirement of interchange and inter-operation according to the NTCIP.
(3) A FCD-based traffic speed estimation algorithm is implemented for the large-scale traffic information collection in urban road network, which provides data source for dynamic navigation. A modified arc-based Dijkstra route searching algorithm is proposed, in which a prior knowledge and the restricted traffic information of the road network are represented by the arc relation structure so that the searching efficiency and accuracy are improved.
(4) Neural network and fuzzy theory applied in the control of PMSM servo system are studied. Several control strategy such as direct control by neural network model, predictive control by neural network model, and fuzzy-PI control of PMSM servo system are discussed respectively. In addition, the PMSM controller model is built in Matlab/Simulink.
(5) A simulation model of PMSM fuzzy-PI controller is developed after discussing the structure and executive method of PMSM servo system of the onboard dynamic navigation intelligent terminal with the power supply of solar battery. Based on the self-adaptive connect-weight value theory, the control weight of PI and fuzzy controller are modified. The PMSM controller is designed in software and hardware architecture and related tests are also carried out.
The experimental results show that the proposed methods of the PMSM servo system is effective and reliable, which can meet the power requirement of onboard dynamic navigation terminal. The collection method of central traffic information on dynamic navigation, and the route searching algorithm satisfy the need of actual ITS application. These methods provide theoretical foundation and good reference for application and popularity of onboard dynamic navigation system with the power supply of solar battery in the future.
引文
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[4]于华波,于洪林.高精度车辆动态导航技术现状和展望[J].汽车技术,2003(11):1-4.
[5]诸葛斌,周荷琴,刘光远等.汽车动态导航终端的研制[J].汽车工程,2006,28(7): 639-642.
[6]胡刚,金振伟,司小平等.车载导航技术现状及其发展趋势[J].系统工程,2006,24(1): 41-47.
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