Start-stop acceleration tracking control of intelligent electric bus based on parameter self-learning
Aiming at the longitudinal control of intelligent electric buses to meet the needs of start-stop comfort and ride comfort,and at the same time taking into account the influences of vehicle mass changes caused by passengers getting on and off the station and road gradient changes on the longitudinal control,an acceleration tracking control method based on parameter self-learning is proposed.Using the vehicle longitudinal dynamics model,the vehicle parameters and environmental change parameters are learned through the adaptive forgetting factor recursive least square method and the expanded state observer.On this basis,the feedforward controller is designed based on the inverse longitudinal dynamics model,and the feedback controller is designed by the active disturbance rejection control(ADRC)method to eliminate the influence of the internal and external uncertainties of the system.Finally,simulation tests and real vehicle tests show that the proposed method can realize fast and high-precision acceleration control,meet the requirements of riding comfort,and improve the anti-interference performance of the system.
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