燃油车和纯电车混杂智能网联队列系统的节能与稳定控制

doi:10.3969/j.issn.1674-8484.2024.01.008

摘要/Abstract

摘要：

提出了一种燃油汽车和纯电动汽车混杂的异构智能网联队列系统节能策略与稳定控制方法。考虑了异质车辆动力学特征、通讯时滞和外界干扰等多重不利因素对队列稳定性的影响, 建立了异质车辆队列非线性系统动力学模型和能耗模型；基于能耗成本和后退动态规划方法，推导出了单车经济车速；依据所提出的节能型车间距策略，构建了状态跟踪误差系统；基于连续时间域分布式鲁棒控制方法，给出了在干扰和信息时滞下的队列系统稳定判据。对包含4辆跟随车的混杂队列系统进行仿真测试。结果表明：在保持队列系统稳定的前提下，4辆跟随车辆节能效果分别提高1.90 %、1.25 %、19.11 %和12.22 %。

关键词: 燃油汽车, 纯电动汽车, 异构智能网联队列, 节能策略, 稳定性控制, 通讯时滞, 外界干扰, 分布式鲁棒控制

Abstract:

An energy saving strategy and a stability control method were proposed for heterogeneous intelligent connected platoon system composed of fuel vehicles and pure electric vehicles. A nonlinear system dynamics model and an energy consumption model were established for heterogeneous vehicle platoon considering the influence of multiple adverse factors such as the dynamic characteristics of heterogeneous vehicles, the communication delay and the external interference. The single vehicle economic speed was derived based on the energy cost and the backward dynamic programming method. The state tracking error system was constructed according to the proposed energy-saving spacing strategy. The platoon system stability criterion under interference and information delay was given based on the distributed robust control method in continuous time domain. A platoon system containing 4 following vehicles was simulated. The results show that the energy saving effect of following vehicles are improved by 1.90%, 1.25%, 19.11% and 12.22% respectively for the 4 following vehicles under the premise of keeping the platoon system stable.

Key words: fuel vehicles, pure electric vehicles, heterogeneous intelligent connected platoon, energy saving strategy, stability control, communication delay, external interference, distributed robust control

中图分类号:

U469.7

徐明诚, 徐利伟, 殷国栋, 董锋威. 燃油车和纯电车混杂智能网联队列系统的节能与稳定控制[J]. 汽车安全与节能学报, 2024, 15(1): 71-82.

XU Mingcheng, XU Liwei, YIN Guodong, DONG Fengwei. Stability control and energy-saving of an intelligent networked platoon system composed of fuel vehicles and pure electric vehicles[J]. Journal of Automotive Safety and Energy, 2024, 15(1): 71-82.

图/表 14

参考文献 27

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重力加速度， g	9.8 m/s²
空气阻力因数， C_A	0.30
滚动阻尼因数， f	0.015
轮胎有效半径， R_W	0.30 m

重力加速度， g	9.8 m/s²
空气阻力因数， C_A	0.30
滚动阻尼因数， f	0.015
轮胎有效半径， R_W	0.30 m

车号	m / t	i_g	α₀	α₁	α₂ / 10^-4	α₃ / 10^-5	α₄ / 10^-2	α₅ / 10^-2	α₆ / 10^-3
0#	12.45	0.4	0.178 8	0.022 0	-8.415	4.675	9.224	8.981	1.875
1#	13.45	1.8	0.210 5	0.018 5	-7.868	6.330	5.014	9.880	0.885
2#	11.45	2.4	0.156 9	0.024 5	-7.415	5.975	7.224	9.681	1.075

车号	m / t	i_g	α₀	α₁	α₂ / 10^-4	α₃ / 10^-5	α₄ / 10^-2	α₅ / 10^-2	α₆ / 10^-3
0#	12.45	0.4	0.178 8	0.022 0	-8.415	4.675	9.224	8.981	1.875
1#	13.45	1.8	0.210 5	0.018 5	-7.868	6.330	5.014	9.880	0.885
2#	11.45	2.4	0.156 9	0.024 5	-7.415	5.975	7.224	9.681	1.075

车号	m / t	E_bat / MJ	a	β₀ / 10^-5	β₁ / 10^-5	β₂ / 10^-4	β₃ / 10^-5	β₄ / 10^-6	β₅ / 10^-4
3#	12.45	172.8	≥0	1.79	2.80	6.71	-1.04	-1.31	7.57
3#	12.45	172.8	<0	147.00	16.90	-13.70	19.20	-5.32	9.48
4#	13.45	172.8	≥0	1.95	2.44	6.20	-1.68	-1.42	7.85
4#	13.45	172.8	<0	1.03	13.20	-17.60	21.30	-5.40	9.98