车辆排队的分布式MPC具有保证的共识和弦稳定性
Yangyang Feng1, Shuyou Yu2,3, Hao Chen1
1Department of Control Science and Engineering, Jilin University, Changchun, 130022, China.
Scientific reports
|June 27, 2023
概括
本研究提出了对车辆排队的等级控制方案,以提高安全性和效率. 先进的控制系统通过精确地管理车辆间的差距来减少事故和燃料消耗.
科学领域:
- 汽车工程 汽车工程
- 控制系统 控制系统
- 交通管理 交通管理
背景情况:
- 车辆排队提供了显著的好处,包括减少交通事故,提高燃油效率,并通过尽量减少车辆间的差距来降低排放.
- 当前的控制策略往往难以在动态排队场景中平衡安全性,一致性和乘客舒适性.
研究的目的:
- 为车辆排队提出一个层次控制方案,以确保安全,一致性和乘客舒适性.
- 为了保证弦稳定性和车队内的非对称共识.
- 开发一款强大的低级控制器,用于精确调节车辆动态.
主要方法:
- 一个同步分布式模型预测控制器 (MPC) 被设计为上层控制器,结合了字符串稳定性约束.
- 在MPC中实施了终端平等约束,以确保异构共识.
- 开发了一种较低级别的控制方案,使用PID反控制器和基于逆纵向动力学模型的前元件来管理快门和制动压力.
主要成果:
- 拟议的层次控制方案有效地保证了弦稳定性,确保下游降低车辆间间隙错误.
- 通过实施终端平等约束,实现了车辆排队的非对称共识.
- 使用PreScan,CarSim和Simulink的联合模拟验证了纵向跟踪控制器的性能.
结论:
- 开发的层次控制方案为安全和高效的车辆排队提供了强大的解决方案.
- 将MPC与字符串稳定性约束和基于PID的低级控制器集成,可以提高排队的性能.
- 模拟结果证实了拟议的控制策略在现实世界 Platooning 应用中的有效性.
相关概念视频
01:24Pole and System Stability
344
The transfer function is a fundamental concept representing the ratio of two polynomials. The numerator and denominator encapsulate the system's dynamics. The zeros and poles of this transfer function are critical in determining the system's behavior and stability.
Simple poles are unique roots of the denominator polynomial. Each simple pole corresponds to a distinct solution to the system's characteristic equation, typically resulting in exponential decay terms in the system's...
Simple poles are unique roots of the denominator polynomial. Each simple pole corresponds to a distinct solution to the system's characteristic equation, typically resulting in exponential decay terms in the system's...
344
01:25Multimachine Stability
198
Multimachine stability analysis is crucial for understanding the dynamics and stability of power systems with multiple synchronous machines. The objective is to solve the swing equations for a network of M machines connected to an N-bus power system.
In analyzing the system, the nodal equations represent the relationship between bus voltages, machine voltages, and machine currents. The nodal equation is given by:
In analyzing the system, the nodal equations represent the relationship between bus voltages, machine voltages, and machine currents. The nodal equation is given by:
198
01:22Controller Configurations
128
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
128
01:07Time-Domain Interpretation of PD Control
146
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
146
01:21Distributed Loads: Problem Solving
680
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
680
01:13Stability of Equilibrium Configuration: Problem Solving
634
The stability of equilibrium configurations is an important concept in physics, engineering, and other related fields. In simple terms, it refers to the tendency of an object or system to return to its equilibrium position after being disturbed. The stability of an equilibrium configuration can be analyzed by considering the potential energy function of the system and examining its behavior near the equilibrium point.
Problem-solving in the context of the stability of equilibrium configuration...
Problem-solving in the context of the stability of equilibrium configuration...
634