考虑载重变化的卡车队列控制  

Research on truck platoon control with truck load variations

作　　者：李旭 修方召 王建春 王强 薛倩 LI Xu;XIU Fangzhao;WANG Jianchun;WANG Qiang;XUE Qian(College of Transportation,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学交通学院,山东青岛266590

出　　处：《重庆理工大学学报（自然科学）》2023年第12期75-85,共11页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(52002229)。

摘　　要：传统卡车队列中的被控卡车在载重量发生变化时,易出现加速度跟踪失效的现象,影响队列各车对前车的跟随性与卡车队列的安全性。为解决这一问题,提出基于自抗扰控制改进的卡车底层控制模型。基于线性二次型最优控制设计上层控制器;设计卡车的下层控制器,建立逆纵向动力学模型,基于自抗扰控制理论进行误差补偿,并进行模型验证;基于Trucksim/Smulink进行队列联合仿真试验验证。结果表明:改进后的底层控制模型能够显著降低加速度跟踪误差及波动幅度,改善队列各车对前车的跟随性及制动过程中的安全性。Truck load variations of the each controlled truck in the traditional truck platoon can easily cause acceleration tracking failures,which affects truck platooning and the safety of the truck platoon.To address the problem,an improved truck underlying control model based on active disturbance rejection control is proposed.First,the upper layer controller is designed based on linear quadratic optimal control.Then the lower controller of the truck is designed,the inverse longitudinal dynamics model is built and the error compensation is made based on the active disturbance rejection control theory to verify the model.Finally,the Trucksim/Smulink co-simulation test is carried out to verify the queue.The results show the underlying control model significantly reduces the acceleration tracking error and fluctuation amplitude,and improves the truck platooning and the safety during each truck’s braking.

关 键 词：卡车队列行驶 分层控制 卡车载重变化 自抗扰控制 

分 类 号：U471.15[机械工程—车辆工程]