摘要
对油门与制动协调切换控制进行研究,建立了车辆纵向控制的分层控制器。上位控制器决定被控车辆期望的速度或加速度,并且设计独立油门模糊控制器与制动模糊控制器作为下位控制器,构造一种协调切换逻辑,完成油门控制和制动控制的平稳切换,实现对油门与制动踏板的联合控制。仿真结果表明:切换逻辑能够较好的协调油门与制动模糊控制器对车辆动力学模型的输入,避免油门踏板与制动踏板同时工作以及频繁切换,实现了对期望速度和期望加速度的跟踪。
It focuses on coordinating throttle and brake to avoid working at the same time and frequent action in vehicle longitudinal control. Firstly, a hierarchical control system is established in which the upper controller determines the desired speed/acceleration for the controlled vehicle and the throttle/brake fuzzy controllers is designed as the lower controller. Then a switching logic is proposed to realize throttle and brake switching smoothly. Finally, integrating throttle and brake control is realized in this longitudinal control. Simulation results show that the established switch logic for throttle and brake are able to coordinate the input of throttle and braking for vehicle dynamics model, to avoid the throttle and brake working at the same time, as well as frequent switching, and achieving the desired speed and the expected acceleration tracking.
出处
《机械设计与制造》
北大核心
2014年第10期112-115,共4页
Machinery Design & Manufacture
基金
国家自然科学基金(61164007)
贵州省留学人员科技活动项目([2011]649)
贵州大学引进人才项目(2011)11号
贵州大学研究生创新基金(研理工2014025)
关键词
智能车辆
模糊控制
纵向控制
切换逻辑
仿真
Intelligent Vehicle
Fuzzy Control
Longitudinal Control
Switch Logic
Simulation
