The invention discloses a cruise speed control method based on sliding mode control, which comprises the following steps of: acquiring driving data, and constructing a second-order system taking an actual speed x1 and an actual acceleration x2 as state variables; constructing a sliding mode controller about the vehicle speed error e1 and the sliding mode surface s based on a second-order system; calculating an expected control law # imgabs0 # based on the vehicle speed error e1 and the sliding mode surface s, loading a control law prediction model, obtaining a switching control law # imgabs2 # according to the sliding mode surface s and the sliding mode surface derivative # imgabs1 #, integrating the expected control law # imgabs3 # and the switching control law # imgabs4 # to obtain a total control law Ft, and sending a control instruction to a driver and a brake of the commercial vehicle according to the total control law Ft. According to the technical scheme, the control precision of the vehicle speed control system can be improved, and the stability and the control efficiency of vehicle speed control are ensured.
本发明公开了一种基于滑模控制的巡航车速控制方法,包括:获取行车数据,构建以实际车速x1与实际加速度x2为状态变量的二阶系统;基于二阶系统构建关于车速误差e1与滑模面s的滑模控制器;基于车速误差e1和滑模面s计算期望控制律#imgabs0#加载控制律预测模型,根据滑模面s和滑模面导数#imgabs1#获取切换控制律#imgabs2#整合期望控制律#imgabs3#和切换控制律#imgabs4#获取总控制律Ft,根据总控制律Ft,向商用车驱动器与制动器发送控制指令。根据上述技术方案,可以提高了车速控制系统的控制精度,保证车速控制的稳定性和控制效率。
Cruise speed control method based on sliding mode control
一种基于滑模控制的巡航车速控制方法
2024-03-22
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 |
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