摘要
以提高自适应巡航控制系统在全速域的控制精度为目标,提出了一种采用变权重系数的线性二次型最优控制算法。根据采集的车辆速度建立模糊控制器,动态选取线性二次型调节器(LQR)中的权重系数,从而得出全速域范围最优的目标加速度。通过仿真实验发现,改进的最优控制算法跟随距离的平均绝对误差,相较于传统的LQR算法降低了42. 95%,相较于常用的模糊控制算法降低了33. 97%。结果表明:改进的LQR算法能够有效提高自适应巡航控制系统的精度,保证跟随的安全性。
In order to improve the control accuracy of the adaptive cruise control system in the whole speed range,a linear quadratic optimal control algorithm with variable weight coefficients is proposed.The fuzzy controller is established according to the collected vehicle speed,and the weight coefficient in the linear quadratic regulator(LQR)is dynamically selected to obtain the optimal target acceleration in the full speed range.Through simulation experiments,the mean absolute error of the improved optimal control algorithm is 42.95%lower than that of the traditional LQR algorithm and 33.97%lower than that of the fuzzy control algorithm in the full-speed range.The results show that the improved LQR algorithm can effectively improve the accuracy of the adaptive cruise control system and ensure the safety of the following.
作者
李想
曾春年
罗杰
胡锦敏
王小龙
LI Xiang;ZENG Chunnian;LUO Jie;HU Jinmin;WANG Xiaolong(School of Logistics Engineering,WUT,Wuhan 430063,China)
出处
《武汉理工大学学报（信息与管理工程版）》
CAS
2019年第2期191-196,共6页
Journal of Wuhan University of Technology：Information & Management Engineering
基金
深圳市技术攻关基金项目(JSGG20170412161703372)
关键词
全速域
控制精度
线性二次型调节器
自适应巡航控制
权重系数
whole speed range
control accuracy
linear quadratic regulator
adaptive cruise control
weight coefficient
