基于参数自学习的智能电动公交车起停加速度跟踪控制

Start⁃stop acceleration tracking control of intelligent electric bus based on parameter self⁃learning

针对智能电动公交车辆纵向控制需满足起停平顺性和乘坐舒适性的需求,同时考虑到乘客上下站引起的车身质量变化以及道路坡度变化对纵向控制的影响,提出一种基于参数自学习的加速度跟踪控制方法。利用车辆纵向动力学模型,通过自适应遗忘因子递归最小二乘法和扩张状态观测器对车辆参数和环境变化参数进行学习。在此基础上,基于逆纵向动力学模型设计前馈控制器,并采用自抗扰控制(active disturbance rejection control,ADRC)方法设计反馈控制器,以消除系统内外部的不确定性影响。最后,进行仿真测试和实车实验。结果表明:所提方法能够实现快速、高精度的加速度控制,满足乘坐舒适性要求,并且改善了系统的抗干扰性能。

Aiming at the longitudinal control of intelligent electric buses to meet the needs of start-stop comfort and ride comfort,and at the same time taking into account the influences of vehicle mass changes caused by passengers getting on and off the station and road gradient changes on the longitudinal control,an acceleration tracking control method based on parameter self-learning is proposed.Using the vehicle longitudinal dynamics model,the vehicle parameters and environmental change parameters are learned through the adaptive forgetting factor recursive least square method and the expanded state observer.On this basis,the feedforward controller is designed based on the inverse longitudinal dynamics model,and the feedback controller is designed by the active disturbance rejection control(ADRC)method to eliminate the influence of the internal and external uncertainties of the system.Finally,simulation tests and real vehicle tests show that the proposed method can realize fast and high-precision acceleration control,meet the requirements of riding comfort,and improve the anti-interference performance of the system.