多模型分层切换车速控制

Multi-model Hierarchical Switching Control for Vehicle Speed

针对汽车纵向动力学建模存在较大不确定性的问题,设计了一种多模型分层切换车速控制系统。在不同汽车参数和工况下,辨识得到节气门开度到车速的传递函数,并建立不确定模型集合对其进行描述基础上,应用鲁棒控制理论对监督器和鲁棒控制器集合进行设计,实现了多模型分层切换车速控制。实验结果表明,与自适应控制器相比,设计的控制器对参数变化具有更快的调节能力,实现了更加快速准确的控制。

To deal with the large uncertainties of vehicle longitudinal dynamics model, a hierarchical switching control system for vehicle speed is designed. The transfer functions under various vehicle parameters and working conditions are estimated, and a model set consisting of five uncertainty models is set up, Based on this model set, the supervisor and the robust controller set are designed by robust control theory. Experiments results show that the proposed controller has better adaptive performance to parameter variations than parameter adaptive approach, thus better performances of accuracy and rapidness are achieved.