周期型控制结构汽车队列的干扰抑制特性

Interference Suppression Characteristics of Vehicle Platoon with Periodic Type Control Structure

受周期性结构抑制振动的启发,本文中提出了周期型的汽车队列控制结构,重点研究了周期型控制结构车辆队列的干扰抑制特性。首先建立了周期型控制结构车辆队列模型,在加速度控制输入中引入外界干扰,构建了整个队列的间距误差方程矩阵;接着在此基础上,推导了从外界干扰和领航车扰动到间距跟驰误差的传递函数方程;最后通过间距误差传递函数矩阵的最大奇异值,分析了周期型控制结构汽车队列的干扰抑制特性。结果表明,周期型控制结构通过合理设计,可有效降低干扰到间距误差传递函数矩阵最大奇异值的峰值,提升汽车队列的干扰抑制能力,且对异类车辆队列同样具有较好的干扰抑制能力;此外,周期型控制结构汽车队列还呈现出较好的规模可扩展性。

Enlightened by that the vibration can be suppressed by periodic structure,a periodic type con⁃trol structure for vehicle platoon is proposed in this paper,with its interference suppression characteristics emphati⁃cally studied.First of all,the vehicle platoon model with periodic type control structure is established,and the ex⁃ternal interference is introduced into the acceleration control input to construct the spacing error equation matrix of the whole platoon.Then the transfer function equations from external interference and leading vehicle disturbance to spacing following error are derived.Finally,the interference suppression characteristics of the vehicle platoon with periodic type control structure are analyzed by the maximum singular value of the spacing error transfer function ma⁃trix.The results show that the rational design of periodic type control structure can effectively reduce the peak of the maximum singular value of the transfer function matrix from interference to spacing error,and enhance the interfer⁃ence suppression capability of vehicle platoon,even for a heterogeneous one.In addition,the vehicle platoon with periodic type control structure also exhibits a good scale expandability.