分层架构下智能电动汽车纵向运动自适应模糊滑模控制
李文昌1,2,郭景华1,2*,王 进1,2

(1.厦门大学航空航天学院,福建 厦门 361102; 2.厦门大学深圳研究院,广东 深圳 518057)

智能电动汽车; 纵向运动; 分层控制; 自适应模糊滑模; 驱动/制动切换

Adaptive fuzzy sliding mode control for longitudinal motion of intelligent electric vehicles under layered architecture
LI Wenchang1,2,GUO Jinghua1,2* ,WANG Jin1,2

(1.School of Aerospace Engineering,Xiamen University,Xiamen 361102,China;2.Shenzhen Research Institute of Xiamen University,Shenzhen518057,China)

intelligent electric vehicles (IEV);longitudinal motion;hierarchical control;adaptive fuzzy sliding mode;driving/braking switching

DOI: 10.6043/j.issn.04380479.201808006

备注

针对智能电动汽车(intelligent electric vehicles,IEV)的纵向控制在不确定性干扰下存在非线性、强时变特征,提出一种分层控制架构下的智能电动汽车纵向跟车运动自适应模糊滑模控制方法.根据经典理论力学建立表征智能电动汽车纵向行为机理的动力学系统模型,并进一步构建智能电动汽车纵向跟车运动分层控制构架.上层控制根据本车与前车的行驶状态信息得出期望加速度滑模控制律,进而利用自适应模糊系统替代滑模切换项以改善控制性能; 下层控制通过设计驱动/制动切换策略以提高行驶舒适性,然后基于逆动力学模型实时求解期望控制力矩以跟踪期望加速度.为验证所提方法的有效性,在不同行驶工况下进行的仿真试验结果表明,该方法能实现本车平稳准确地跟随前车行驶,且对前车加速度的干扰具有鲁棒性.

Aiming at that the intelligent electric vehicles (IEV) have nonlinear and strong time-varying characteristics under uncertainty interference,an adaptive fuzzy sliding mode hierarchical control method for longitudinal car-following motion of IEV is proposed.Based on classical theoretical mechanics,a dynamic system model is established to characterize the mechanism of IEV longitudinal behavior.We construct an adaptive hierarchi calcontrol framework in which the upper control layer is designed for obtaining the desired acceleration adaptive sliding mode control law according to the driving state information of the host and preceding vehicles.To improve the control performance,we adopt the fuzzy system to replace the sliding mode switching item to realize adaptive control,effectively overcoming the parameter uncertainty of IEV.In the lower control layer,adrive/brake switch logic is designed to ensure the driving comfort,and the expected torque is solved in real time to track the desired acceleration planned in the upper control layer.For the purpose of verifying the effectiveness of the proposed method,simulation experiments are carried out under different driving conditions.Results show that this method can realize smooth and accurate following of IEV to the preceding vehicle,with robustness toward the interference of the preceding vehicle's acceleration.