基于双模式执行器的商用车自适应巡航控制系统-清华大学智能交通与.PDF

第24 卷 第3 期 中 国 公 路 学 报 Vol. 24 No. 3 2011 年5 月 China Journal of Highw ay and T ransport M ay 2011 : 1001 3 2( 2011) 王建强, 杨 波, 张德兆, 李升波 ( , 100084) : 为实现商用车自适应巡 控制( ACC) 系统的功能, 开发了双模式制动执行装置和电子油门 控制装置, 即基于高速开关阀的商用车气压电控辅助制动系统和双模式油门控制系统, 可以实现驾 驶员和ACC 系统的协同切换控制在此基础上, 以某商用车为对象, 设计了A CC 系统, 结合比例 积分控制器和Smith 预估补偿器设计了ACC 的下位控制算法结果表明: 该ACC 系统速度稳态 跟踪误差小于1 m s- 1 , 距离稳态跟踪误差小于1. 5 m; 同时油门执行器和制动执行器具有安装方 便与原车电子油门及气压制动系统兼容性好的优点 : 汽车工程; 自适应巡 控制; 试验研究; 电控制动装置; 电子油门控制; Smith 预估控制 : U 461. 91 : A Adaptive Cruise Control System of Commercial Vehicle Based on Dualmode Actuators WANG Jianqiang, YANG Bo, ZHANG Dezhao, LI Shengbo ( St at e Key Laboratory of Automotive Safety and Energy, T singhua Universit y, Beijing 100084, China) Abstract: In order to implement adaptive cruise control ( A CC) system function on commercial vehicles, authors developed a braking device and an electronic throttle control device w ith dual mode, i. e. electronic pneumatic braking system of commercial vehicle based on high speed onoff valve and throttle control system w ith dualmode. It can realize seamless sw itch control betw een ACC system and driver. On the basis of it, taking a commercial vehicle as example, ACC system w as designed. Control algorithm of the low er layer of ACC w as constructed by combining proportionalintegral ( PI) controller and Smith predictive compensator. Results show that speed - 1 steady tracking error of ACC system is smaller than 1 m s , steady distance tracking error is smaller than 1. 5 m. T hrottle actuator and braking actuator are compatible w ith electronic throttle