分段仿射模型在智能车辆混合控制的应用研究  

Application of Piecewise Affine Model in Hybrid Control of Intelligent Vehicle

作　　者：黄智 王月雷 何金戈[2] HUANG Zhi;WANG Yue-lei;HE Jin-ge(Mechanical and Electrical Engineering College,Hainan Vocational University of Science and Technology,Hainan Haikou 571126,China;Mechanical and Electrical Engineering College,Hainan University,Hainan Haikou 570228,China)

机构地区：[1]海南科技职业大学机电工程学院,海南海口571126 [2]海南大学机电工程学院,海南海口570228

出　　处：《机械设计与制造》2024年第7期31-39,共9页Machinery Design & Manufacture

基　　金：2021年度海南省自然科学基金拟立项项目表(高层次人才项目)(521RC610)。

摘　　要：针对智能车辆混合动力学控制问题,首先采用分段仿射模型(PWA)非线性逼近车辆主要部件的系统特性,将智能车辆纵向动力学转化为计算混合逻辑动力学(MLD)模型,在此基础上提出了混合模型预测控制(HMPC)策略。通过求解混合整数二次规划(MIQP)问题,设计了能够计算智能车辆纵向工作模式(二进制控制输入),以及节气门开口度和制动压力(连续控制输入)在自动调速过程中切换顺序的控制器。最后通过仿真对比模拟分析,验证了所设计的混合控制器在典型工况下具有良好的纵向速度调节控制性能。Aiming at the hybrid dynamics control problem of intelligent vehicle,firstly,the piecewise affine model(PWA)is used to approach the system characteristics of the main components of the vehicle,and the longitudinal dynamics of intelligent vehicle is transformed into a computational hybrid logical dynamics(MLD)model.On this basis,a hybrid model predictive control(HMPC)strategy is proposed.By solving the mixed integer quadratic programming(MIQP)problem,a controller which can calculate the longitudinal working mode(binary control input)of intelligent vehicle and the switching sequence of throttle opening and brake pressure(continuous control input)in the process of automatic speed regulation is designed.Finally,through simulation comparison and simulation analysis,it is verified that the designed hybrid controller has good longitudinal speed regulation control performance under typical working conditions.

关 键 词：智能车辆 分段仿射系统 混合逻辑动力学模型 速度控制 

分 类 号：TH16[机械工程—机械制造及自动化]