车辆加速度自抗扰控制

Active disturbance-rejection control in vehicle acceleration

高性能的加速度控制是先进车辆动力学和主动安全系统的一项关键技术,其实现的难点在于车辆加速度系统存在有强非线性和不确定性,本文为此提出一种基于自抗扰控制(ADRC)的车辆加速度控制新方法.首先建立车辆纵向运动动力学模型,设计面向加速度控制的发动机–制动器间的协调策略.然后分别导出发动机–车辆加速度、制动器–车辆加速度两个动力学子系统的仿射模型,使用线性离散算法设计车辆加速度自抗扰控制器.最后进行仿真,结果表明自抗扰控制方法能够实现快速、高精度的车辆加速度控制.

A high-performance longitudinal acceleration control is a crucial technology for the advanced vehicle dynam-ics and the active safety-system.However,its practical realization is still with difficulties because of the strong nonlinearity and uncertainty in the vehicle acceleration system.For this reason,a new acceleration control approach based on the active disturbance-rejection control（ADRC） is proposed.First,a dynamic model of the vehicle longitudinal locomotion is built and the engine-brake cooperation strategy for the acceleration control is designed.Next,a two-subsystem affine dynamic model is developed for the engine-vehicle acceleration model and the brake-vehicle acceleration model.Two correspondent controllers based on the linear discrete ADRC algorithm are designed.Finally,simulations are carried out to validate the new approach.The results show that the rapid response and high-precision performances can be achieved simultaneously in the vehicle longitudinal acceleration control.