The invention discloses a low-speed intelligent automobile longitudinal speed active-disturbance-rejection control method considering multi-source disturbance. The method comprises the following steps that initialization is conducted; obtaining a target tracking speed; state estimation is carried out based on LESO; determining a PD state feedback control law; an LADRC control law is determined; and calculating a longitudinal speed control instruction for control. The LESO can estimate unknown multi-source disturbance of the longitudinal tracking system caused by inaccurate modeling, environmental factors and the like in real time, and the anti-interference capability of a longitudinal speed control algorithm is improved. The designed speed preview module effectively improves signal time lag disturbance and ensures longitudinal tracking precision. According to the method, the engineering problems that a longitudinal complex driving model in a low-speed scene is large in accurate modeling difficulty, large in parameter quantity, complex in calculation and the like are effectively solved, unknown multi-source disturbance caused by modeling inaccuracy, signal time lag, environmental factors and the like is eliminated, and meanwhile on the premise that stability is ensured, longitudinal speed robustness and accurate tracking are achieved.
本发明公开了一种考虑多源扰动的低速智能汽车纵向速度自抗扰控制方法,包括以下步骤:初始化;获取目标跟踪速度;基于LESO进行状态估计;确定PD状态反馈控制律;确定LADRC控制律;计算纵向速度控制指令进行控制。本发明的LESO能实时估计纵向跟踪系统因建模不精确及环境因素等导致的未知多源扰动,提升了纵向速度控制算法抗干扰的能力。所设计的速度预览模块有效改善了信号时滞扰动,保证了纵向跟踪精度。本发明有效解决了低速场景下纵向复杂驱动模型存在的精确建模难度大、参数量多、计算复杂等工程难题,并且消除建模不精确、信号时滞及环境因素等带来的未知多源扰动,同时在确保稳定性的前提下,实现纵向速度鲁棒且精确地跟踪。
Low-speed intelligent automobile longitudinal speed active-disturbance-rejection control method considering multi-source disturbance
考虑多源扰动的低速智能汽车纵向速度自抗扰控制方法
2023-10-24
Patent
Electronic Resource
Chinese
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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