低速巡航工况非线性车速跟踪控制

Nonlinear Speed Tracking Control of Vehicles During Low Speed Cruise

摘要:

电控机械式自动变速器（AMT）车辆在车速较低时，其跟车巡航控制的性能对于车辆安全有重要影响，为此，提出三步法控制策略对离合器滑差进行精确控制，从而确保AMT车辆在低速巡航工况下的车速跟踪性能。三步法控制利用参考跟踪轨迹的前馈信息和车辆速度的反馈信息，控制器推导过程中采用李雅普诺夫函数法，以保证控制系统的渐近稳定性。仿真和实车试验结果表明，采用所提出的三步法控制策略，可使AMT车辆在各种工况下均能保持良好的速度跟踪性能。

Abstract:

When automated manual transmission （AMT） vehicles are driving under the low vehicle speed， its tracking performance is of great importance for vehicle safety. This paper adopts a triple-step method to control the clutch slip process accurately， so as to ensure the speed tracking performance of AMT vehicles under low speed cruise scenario. The triple-step method makes full use of the feedforward information of the reference tracking trajectory and the feedback of the vehicle speed. The Lyapunov method is used during the control law deduction， so that the asymptotic stability of the control scheme is guaranteed. Eventually， the effectiveness of the controller is evaluated through the simulation and real-car tests. The simulation and experimental results show that by using the proposed triple-step method， the vehicle speed tracking performance can be guaranteed under various working conditions.