引用本文:宾 洋, 李克强, 连小珉.低速行驶车辆的非线性系统建模及控制[J].控制理论与应用,2005,22(5):814~819.[点击复制]
BIN Yang,LI Ke-qiang,LIAN Xiao-min.Modeling and control of nonlinear systems for vehicular stop-and-go cruise control[J].Control Theory and Technology,2005,22(5):814~819.[点击复制]
低速行驶车辆的非线性系统建模及控制
Modeling and control of nonlinear systems for vehicular stop-and-go cruise control
摘要点击 1613  全文点击 2111  投稿时间：2004-06-14  修订日期：2005-01-10
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DOI编号  10.7641/j.issn.1000-8152.2005.5.029
  2005,22(5):814-819
中文关键词  非线性系统  精确线性化  跟踪控制
英文关键词  nonlinear systems  exact linearization  tracking control
基金项目  清华大学-五十铃汽车公司国际合作项目
作者单位
宾 洋, 李克强, 连小珉 清华大学汽车安全与节能国家重点实验室,北京100084 
中文摘要
      针对低速行驶工况下的车辆Stop and Go(起-停)巡航控制系统,本文推导其纵向行驶的非线性动力学方程.在此基础上采用精确线性化变换将非线性系统转化为线性可控正则型,并对此正则型设计一种跟踪控制器,实现了车辆低速甚至起-停工况的加速度精确跟踪.
英文摘要
      A nonlinear equation of vehicle longitudinal dynamics is deduced for the low-speed vehicular stop-and-go cruise control systems.Based on the equation,an exact linearization transformation is utilized to convert the nonlinear system in to a linear controllable normal form,and a tracking control algorithm is investigated for this normal form to keep more precise acceleration tracking on the low-speed or stop-and-go conditions.