The invention relates to the technical field of vehicle control, in particular to a hybrid electric vehicle longitudinal speed control time delay compensation method and system based on event triggering, and the method comprises the steps: generating a reference torque distribution strategy according to the target state quantity of a vehicle in a prediction time domain and the current state quantity of the vehicle; detecting whether a time delay compensation control strategy is triggered or not according to the event triggering threshold value; and when a time delay compensation control strategy is triggered, predicting by using the system state space model to obtain a future state quantity sequence so as to obtain an optimal control sequence in a prediction time domain of the current time step of the vehicle, and applying an optimal control quantity corresponding to the current time step extracted from the optimal control sequence to a vehicle driving system. According to the method, the control time delay generated by the engine and the hydraulic braking system is compensated through the torque generated by the motor by utilizing the characteristic of quick response of the motor, the control time delay phenomenon caused by mechanical and hydraulic structures is overcome, the precision and robustness of longitudinal speed control are improved, and the computational load of predictive control is reduced.
本发明涉及车辆控制技术领域,尤其涉及一种基于事件触发的混动车纵向速度控制时延补偿方法及系统,包括:根据车辆在预测时域内的目标状态量和车辆当前状态量,生成参考扭矩分配策略;根据事件触发阈值检测是否触发时延补偿控制策略;在触发时延补偿控制策略时,利用系统状态空间模型预测得到未来状态量序列,以获取车辆当前时间步预测时域内的最优控制序列,并将从最优控制序列中提取的与当前时间步对应的最优控制量施加到车辆驱动系统。本发明利用电机响应快速特性,通过电机产生的扭矩来补偿发动机和液压制动系统产生的控制时延,克服了由机械、液压结构引起的控制时延现象,提高了纵向速度控制的精度和鲁棒性,降低了预测控制的计算负荷。
Event triggering-based hybrid electric vehicle longitudinal speed control time delay compensation method and event triggering-based hybrid electric vehicle longitudinal speed control time delay compensation system
基于事件触发的混动车纵向速度控制时延补偿方法及系统
2023-11-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |