考虑前置通信与时变时滞的车辆跟随系统稳定性分析  

Stability analysis of the vehicle platoon system considering predecessor following and time-varying delay

作　　者：周俐光 许航 上官星辰 闫晨 ZHOU Liguang;XU Hang;SHANGGUAN Xingchen;YAN Chen(Hunan CRRC Zhixing Technology Co.,LTD,Changsha 410000,China;School of Automation,China University of Geosciences(Wuhan),Wuhan 430074,China;Three Gorges Navigation Authority,Yichang 443000,China)

机构地区：[1]湖南中车智行科技有限公司,长沙410000 [2]中国地质大学(武汉)自动化学院,武汉430074 [3]长江三峡通航管理局,宜昌443000

出　　处：《汽车安全与节能学报》2023年第4期463-471,共9页Journal of Automotive Safety and Energy

基　　金：国家自然科学基金青年项目(62203409)。

摘　　要：为提高汽车队列行驶的安全性,针对存在时变时滞的车辆跟随系统稳定性问题,提出了基于Lyapunov-Krasovskii泛函(LKF)的时滞相关稳定分析方法,以估计系统稳定容许时滞变化范围。对具有时变时滞的车辆跟随系统,建立了具有双时变时滞的系统模型;考虑2个时变时滞变量的关系构造LKF,通过矩阵不等式处理后给出具有双时变时滞系统的稳定性判据;针对4车队列利用MATLAB软件计算不同控制参数下的时滞容许范围。结果表明:在测试设定的车辆跟随系统的参数下,控制器增益与系统能够容许的最大时滞成反比关系;相同参数下,高速行驶的车辆队列受时滞的影响更大;提出的稳定分析方法可以得到保证系统稳定最大容许时滞,为设计实际车辆跟随队列的控制器提供稳定性判据。In order to improve the safety of vehicle queuing,a delay-dependent stability analysis method based on Lyapunov-Krasovskii functional(LKF)was proposed to estimate the range of allowable time delay for vehicle following system with time-varying delay.For the vehicle following system with time-varying delay,a system model with double time-varying delay was established.Considering the relationship between two time-varying delay variables,LKF was constructed,and the stability criterion of the system with double timevarying delay was given after processing by matrix inequalities.The allowable range of time delay under different control parameters was calculated by MATLAB software for 4 vehicle lines.The results show that the controller gain is inversely proportional to the maximum time delay allowed by the system under the parameters of the vehicle following system;and under the same parameters,the delay is more important to the high-speed vehicle queue;The proposed stability analysis method can obtain the maximum allowabletime delay to ensure the stability of the system, and provide stability criteria for designing the controller of theactual vehicle following queue.

关 键 词：车辆跟随系统 时变时滞 稳定性分析 Lyapunov-Krasovskii泛函(LKF) 

分 类 号：U461.6[机械工程—车辆工程]