通信論文基于通信網(wǎng)絡(luò)的縱向車隊(duì)控制研究

1、基于通信網(wǎng)絡(luò)的縱向車隊(duì)控制研究 基于通信網(wǎng)絡(luò)的縱向車隊(duì)控制研究 study on the control of longitudinal platoon based on the communication network【中文摘要】 車輛以車隊(duì)的方式行駛可以顯著的增加高速公路車輛通行流量,保證車隊(duì)穩(wěn)定的控制律依靠領(lǐng)車的速度和加速度信息,這些信息由車隊(duì)無線通信網(wǎng)絡(luò)傳遞,而通信網(wǎng)絡(luò)固有的丟包、延時(shí)等缺陷不可避免的會(huì)降低車隊(duì)的性能,這些缺陷卻很少被考慮進(jìn)車隊(duì)控制器的設(shè)計(jì)中,所以本文主要研究了領(lǐng)隊(duì)車輛的信息經(jīng)過無線通信網(wǎng)絡(luò)發(fā)生丟包、量化與延時(shí)情況下縱向車隊(duì)的控制問題。具體的研究工作分為以下幾個(gè)方面:

2、首先,介紹了車輛縱向、橫向及綜合控制的概念,著重分析了縱向車隊(duì)研究現(xiàn)狀。其次,建立了車輛的縱向動(dòng)態(tài)模型及結(jié)構(gòu)模型,考慮領(lǐng)車信息受車隊(duì)無線通信網(wǎng)絡(luò)的影響,建立了車隊(duì)的混合控制模型,所得混合控制模型充分考慮了車隊(duì)與網(wǎng)絡(luò),優(yōu)化了現(xiàn)有車隊(duì)模型。再次,考慮車隊(duì)通信網(wǎng)絡(luò)存在丟包的情況,提出了保證混合系統(tǒng)均方穩(wěn)定的定理,并利用lmi條件得到了使系統(tǒng)均方穩(wěn)定的動(dòng)態(tài)輸出反饋控制器的構(gòu)造方法?？紤]領(lǐng)車加速度變化對(duì)車隊(duì)整體性能的影響,把領(lǐng)車加速度變化考慮為干擾因素,設(shè)計(jì)了網(wǎng)絡(luò)丟包與干擾同時(shí)存在的車隊(duì)h控制器,仿真驗(yàn)證了控制器的有效性。最后,分析了領(lǐng)車通信網(wǎng)絡(luò)延時(shí)對(duì)車隊(duì)整體穩(wěn)定性的影響,進(jìn)一步,考慮車隊(duì)通信網(wǎng)絡(luò)量化與

3、延時(shí)共存的情況,量化問題轉(zhuǎn)化為不確定性問題,網(wǎng)絡(luò)誘導(dǎo)延時(shí)是有界的,同時(shí)考慮了領(lǐng)車加速度變化帶來的干擾因素,得到的車隊(duì)混合模型是存在干擾輸入的不確定離散時(shí)滯系統(tǒng),提出了保證系統(tǒng)漸近穩(wěn)定的定理,設(shè)計(jì)了有記憶反饋控制器,通過仿真檢驗(yàn)了其有效性?！居⑽恼?the throughput of vehicles on highways can be greatly increased by forming vehicle platoons.the control law that maintains stable operation of a platoon is dependent on the l

4、ead vehicles velocity and acceleration transmitted by wireless communication network.communication networks generally introduce packet dropout and delay.however,these communication faults are not typically taken into account in controller designing.therefore,this article studies the control problem

5、of longitudinal platoon when the lead vehicle information transmits through the wireless communication network with packet dropout and time-delay.the main research works are as follows:firstly,give an introduction about the vehicle longitudinal and lateral control and integration control,especially

6、the development of the longitudinal platoon control.secondly,establish a longitudinal dynamic model of the vehicle and the structure model of a platoon.a hybrid control model is established while considering the lead vehicle information effected by wireless communication network.the hybrid model tak

7、es full account of platoon and network to optimize the exisinting model.thirdly,packet dropout process is considered when the lead vehicle information transmits through wireless network.a theorem is proposed to ensure the model mean-square stability.the dynamic output feedback controller is construc

8、ted based on a lmi condition.the performance of platoon affected by the acceleration changes from the lead vehicle is considered.a controller is designed with packet dropout and disturbance.at last,the performance of the designed controller is verified by a simulation.finally,analyze the effects of

9、the lead vehicle communication delay on string stability in vehicle platoon.furthermore,considering the quantification and network induced delay of the platoon wireless network exist at the same time,the quantification can be considered as an uncertainty and the network induced delay is bound,and co

10、nsidering changes in the lead vehicle acceleration as a disturbance input,the hybrid system is obtained as an uncertain discrete-time system with time-delay.the sufficient condition for asymptotical stability is derived and a robust hcontroller with memory state feedback is discussed.the effectivene

11、ss of the controller is proved by simulation.【中文關(guān)鍵詞】 縱向車隊(duì); 網(wǎng)絡(luò)丟包; 延時(shí); h控制器 【英文關(guān)鍵詞】 longitudinal platoon; packet dropout; time-delay; hcontroller【論文目錄】摘要 5-6 abstract 6-7 第1章 緒論 10-20 1.1 概述 10-13 1.1.1 縱向控制 11 1.1.2 橫向控制 11-12 1.1.3 綜合控制 12-13 1.2 研究現(xiàn)狀 13-18 1.3 有待解決的問題 18 1.4 本文主要工作及結(jié)構(gòu) 18-20 第2章 縱向車

12、隊(duì)建模 20-27 2.1 介紹 20-22 2.2 車輛動(dòng)態(tài)模型的建立 22-24 2.3 車隊(duì)結(jié)構(gòu)模型的建立 24-26 2.4 本章小結(jié) 26-27 第3章 通信網(wǎng)絡(luò)丟包下車隊(duì)的控制 27-45 3.1 pid車隊(duì)控制器 27-29 3.2 動(dòng)態(tài)輸出反饋控制器的設(shè)計(jì) 29-32 3.2.1 車隊(duì)混合模型的建立 29-31 3.2.2 動(dòng)態(tài)輸出反饋控制器設(shè)計(jì) 31-32 3.3 仿真及性能分析 32-40 3.3.1 pid控制器仿真 32-37 3.3.2 動(dòng)態(tài)輸出反饋控制器仿真 37-39 3.3.3 仿真結(jié)果分析 39-40 3.4 車隊(duì)h_控制器的設(shè)計(jì) 40-42 3.5 仿真實(shí)驗(yàn)及分析 42-44 3.6 本章小結(jié) 44-45 第4章 通信網(wǎng)絡(luò)量化與延時(shí)共存時(shí)車隊(duì)的控制 45-60 4.1 網(wǎng)