基于MPC的智能网联卡车队列最优能耗控制
Optimal Energy Consumption Control of Intelligent and Connected Truck Platoon Based on MPC
闫茂德 1金鑫 1杨盼盼 1刘军浩1
作者信息
- 1. 长安大学电子与控制工程学院,陕西 西安 710064
- 折叠
摘要
针对高速公路智能网联卡车队列的能耗优化问题,提出了一种基于模型预测控制的双层控制算法.算法由速度规划层和跟踪控制层两部分构成,其中速度规划层结合道路坡度及车辆状态,通过线性能量守恒模型来消除动力学模型中的非线性项,并以发动机输出功率作为油耗优化指标,采用线性模型预测控制方法获得车队的规划速度;为减少简化车队模型引起的不确定性,跟踪控制层采用基于线性矩阵不等式的分布式鲁棒模型预测控制算法,设计状态反馈控制器对上层规划的最优速度进行跟踪.仿真结果验证了上述双层控制算法的可行性和有效性,可以在保证最优能耗控制的前提下实现车队安全稳定行驶.
Abstract
Aiming at the energy consumption problem of intelligent and connected truck platoons on highways,a double-layer control algorithm based on model predictive control is presented.The algorithm includes the speed plan-ning layer and the tracking control layer.In the speed planning layer,a linear energy conservation model is established to remove the nonlinear items in the dynamic model combined with the road topography and vehicle state,the planning speed of the platoon is obtained based on the linear model predictive control algorithm which designs the engine output power as the fuel consumption optimization index.To reduce the model uncertainty caused by the sim-plified model in the trajectory tracking layer,a robust model predictive control algorithm based on linear matrix ine-quality is adopted in the tracking control layer,which proposes a state feedback controller to track the optimal speed of the upper planning.Simulation results verify the feasibility and effectiveness of the presented two-layer control algo-rithm,which can ensure the safety and stability of truck platoons as well as optimal energy consumption control.
关键词
卡车队列控制/最优能耗/速度规划/轨迹跟踪/模型预测控制Key words
Truck platoon control/Optimal energy consumption/Speed planning/Trajectory tracking/Model pre-dictive control引用本文复制引用
基金项目
国家自然科学基金(61803040)
陕西省科技计划重点研发计划(2019GY-218)
中央高校基本科研业务费专项(300102320203)
出版年
2024
NETL
NSTL
万方数据