智能纯电动汽车的队列动力学解析及稳定性研究

论文总字数：23478字

摘 要

随着我国经济的不断发展，人们的生活方式也越来越现代化。使用汽车出行已经成为人们常选的交通方式。我国又是一个人口众多的国家，所以我国的汽车尤其是私家车的数量增长惊人，这也使得我国的交通系统负担越来越沉重。要想解决这一问题，除了建立自动化的公路交通系统外，发展智能车辆及其控制技术也是一个非常重要的方法。

智能车运用许多先进的技术，也一定会成为未来智能交通系统的主角。本文分析了国内外在智能车编队控制方面取得的一些成就，从中学习队形控制的理论方法。本文的研究内容主要如下：

首先，本文研究的个体是智能纯电动汽车，构造智能电动车的动力模型，该模型的输入是方向盘转角，油门制动踏板开度，输出车的速度。该模型起桥梁作用，接下来建立的二自由度汽车运动学模型需要通过它进行实车测试。

其次，以领航追随方法为基本控制思路，建立双车车队的运动学模型。在这部分中，结合设定的两车期望距离和角度，控制跟随车速度使其能跟踪领航车的轨迹。

接着，将这种控制模式运用到多车编队。使用图论法描述建立的多车队列，车队行驶过程中的避障考虑了改变队形和不改变队形两种方法。对系统进行多车车队运动仿真，验证控制器的队形稳定控制效果。

最后，对本文的研究内容进行分析总结，也提出了研究过程中的不足。

关键词：编队控制；队列稳定；领航跟随法

Abstract

The life style of people is becoming more and more modern due to the economic development. It has become a trend that people like to travel by car. Our country has a large amount population, and the number of private cars is fast increasing in the last few years, which brings a heavy burden on our transport system. To solve the problems, this article set up automated transport systems. Besides, pay attention to developing the control technology of intelligent vehicle.

Intelligent vehicle use many advanced technology and it will become the protagonist of transport in the future. In this article, many literatures home and abroad which is related to formation control are consulted, and then some important and useful theories and methods are learned from it. This article includes the following contents:

First of all, this article focus on the study of pure electric vehicle, and build a dynamical model of the electric vehicle, whose input is steering wheel angle, the opening of accelerator or brake pedal and output is velocity. The dynamical model acts as a bridge between the kinematic model and the real car tests.

Next, learning from the basic idea of leader-follower configuration, and build a kinematic model of a queue consisting of two vehicles. In this part, according to the expected distance and angle set in the controller, keep the follower vehicle track the path of the leader one.

Then, apply the control pattern to the queue consisting of more than two vehicle. Using graph theory to describe the structural feature of the queue. This article explore two methods (change the formation or not) to avoid obstacles when the queue is driving on the roads.

Finally, summarize the main results and problems which is not well handled.

Key words: Formation control; Stable queue; Leader-follower configuration

目 录

摘要 3

Abstract 4

第一章 绪论 1

1.1研究背景及意义 1

1.2 国内外研究现状 1

1.2.1智能车辆研究现状 2

1.2.2车辆编队控制理论方法 2

1.3本文的内容安排 3

第二章 车辆编队的建模 4

2.1 智能电动车动力学模型 4

2.2 单车运动学模型 6

2.3基于领航跟随的车队模型 8

第三章 设计跟随车控制器 12

3.1条件设定 12

3.2控制器设计及其稳定性证明 12

3.3针对控制器进行仿真实验 15

3.3.1 初始误差为0的控制器仿真实验 16

3.3.2 初始误差不为0的控制器仿真实验 19

第四章 多车编队控制及其仿真 22

4.1 图论法描述车队队形 23

4.1.1多车编队的图形定义 23

4.1.2具体多车编队的两个重要矩阵 24

4.2多车编队队形控制及其仿真 25

4.2.1不改变队形的车队避障仿真实验 25

4.2.2改变队形的车队避障仿真实验 28

第五章 结论与展望 31

参考文献 32

致谢 33

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