智能客车多目标优化纵向速度跟踪算法设计  

Design of Multi-objective Optimization Longitudinal Speed Tracking Algorithm for Intelligent Bus

作　　者：李君宝 王洪亮[1] LI Junbao;WANG Hongliang(School of Mechanical Engineering,Nanjing University of Science&Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《汽车实用技术》2022年第22期21-30,共10页Automobile Applied Technology

基　　金：国家自然科学基金(52172369)。

摘　　要：为了实现智能客车纵向车速的精确跟踪,同时兼顾乘员舒适性和电池续航能力等指标要求,提出一种智能客车纵向运动的多目标优化分层控制算法。上层控制采用模型预测控制算法,使用了整合速度跟踪精度、舒适性和电池续航能力的代价函数。下层控制采用逆纵向模型加抗积分饱和比例-积分的串联控制方式,以补偿车辆模型的非线性动力学。仿真结果表明,所论述的控制器对外部干扰和系统不确定性具有很好的鲁棒性,在速度跟踪精确度、续航能力和舒适性方面有着良好的控制效果。A multi-objective optimization hierarchical control algorithm is proposed for the longitudinal motion of the intelligent bus to realize the accurate tracking of the longitudinal speed of the intelligent bus and meet the requirements of passenger comfort and battery endurance.The model predictive control algorithm is adopted in the upper control layer and the cost function integrating speed tracking accuracy, comfort, and battery endurance is adopted.The lower control adopts the cascade control method of inverse longitudinal model and anti-integral windup Proportion Integral(PI) to compensate for the nonlinear dynamics of the vehicle model.The simulation results show that the proposed controller has good robustness to external disturbance and system uncertainty, and has a good control effect in speed tracking accuracy, endurance and comfort.

关 键 词：智能客车 纵向速度跟踪 模型预测控制 抗积分饱和比例-积分 多目标优化 

分 类 号：U461.6[机械工程—车辆工程]