基于逆控制策略模型的电动车驾驶机器人车速控制

Vehicle Speed Control of Electric Vehicle Driving Robot Based on Inverse Control Strategy Model

为满足驾驶机器人利用加速踏板行程信号实现对于电动车速度跟随的需求,提出了一种基于逆控制策略模型的车速控制方法。该方法在传统纵向动力学的车速控制回路基础上,引入了车辆控制策略模型,将原有的通过电机转矩控制车速转换为通过加速踏板行程来控制,从而降低了驾驶机器人对原车辆的改造风险,提高了机器人的适用性。转鼓试验结果表明,与人工驾驶相比,本文中提出的控制方法有效提高了车速跟踪精度,误差不超过±1 km/h,满足国家电动车试验标准。

For meeting the requirements of driving robot in using accelerator pedal travel to achieve the speed following of electric vehicle,a vehicle speed control scheme based on inverse control strategy model is proposed.The scheme introduces the model for vehicle control strategy on the basis of the speed control circuit of traditional longitudinal kinetics,and transforms the original vehicle speed control by electric motor torque into that by accelerator pedal travel,and hence reduces the risk of retrofitting the original vehicle to driving robot and thus enhances robot applicability.The results of dynamometer test show that compared with manual driving,the control method proposed effectively increases the accuracy of vehicle speed tracking with an error not more than±1 km/h,meeting the national standard for electric vehicle test.