干扰时滞下的车辆队列事件触发量化控制研究  

Event-triggered quantized control of vehicle platooning system under disturbances and communication delay

作　　者：徐利伟 王汀渊 殷国栋[1] Xu Liwei;Wang Tingyuan;Yin Guodong(School of Mechanical Engineering,Southeast University,Nanjing 211189,China)

机构地区：[1]东南大学机械工程工程学院,南京211189

出　　处：《东南大学学报（自然科学版）》2024年第6期1551-1560,共10页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金资助项目(52372379,52025121);广西创新驱动发展专项资金资助项目(AA22068001);广西科技重大专项资助项目(AA23062031)。

摘　　要：为减少通信负载和节省计算资源,同时保证多车队列系统的稳定性,提出了一种事件触发量化稳定控制方法.该方法可在大幅降低车间通信频次和控制计算量的前提下,实现队列系统在通信时滞、数据丢包和外界环境干扰下的稳定性.建立了多车队列系统时滞干扰不确定性模型,构建了多车队列事件触发量化协同控制系统,给出了多车队列系统L_(2)全局稳定判据,在Matlab-Carsim联合仿真环境下对所提出的控制方法进行了验证.结果表明,相比于主流队列稳定控制方法,所提控制方法可在10 m/s最大外界风速、0.03 s最大通信延时、10个最大数据丢包及领航跟随/双领航跟随2种通信拓扑结构下,车间距误差小于0.35 m,速度跟踪误差不超过0.28 m/s,同时控制频次可实现最高66.89%的大幅降低.To reduce communication load and save computational resources while ensuring the stability of a vehicle platoon system,an event-triggered quantized stability control method is proposed.Under the premise of significantly reducing communication frequency and computational demands,this method can achieve string stability under communication delays,data loss,and external disturbances.A model for the uncertainty of delays and disturbances in vehicle platoon systems is established,along with an event-triggered quantized collaborative control system.A global stability criterion for the vehicle platoon system is provided,and the proposed control method is validated through Matlab-Carsim joint simulations.Results show that,compared with the traditional platoon stability control,the proposed approach can maintain a spacing error of less than 0.35 m and a speed tracking error of no more than 0.28 m/s,even under maximum external wind speeds of 10 m/s,maximum communication delays of 0.03 s,and up to 10 data losses,while achieving a reduction in control frequency of up to 66.89%.

关 键 词：多车队列系统 事件驱动机制 量化器 队列稳定性 干扰和通信时滞 

分 类 号：U461.1[机械工程—车辆工程]