【摘要】：車輛隊列通過引入無線通信擴展了成員車的環(huán)境感知能力,在保證安全性的基礎上采用幾何構(gòu)型更為緊湊的跟馳策略,從而可以提高交通效率,減少能源消耗,是智能交通的重要發(fā)展方向。現(xiàn)有研究所涉及的通信拓撲結(jié)構(gòu)單一,未考慮建模不確定性和通信擾動的影響,難適用于復雜多變的交通環(huán)境。針對這些問題,本文基于四元素構(gòu)架車輛隊列模型,研究了多型通信拓撲結(jié)構(gòu)下車輛隊列的內(nèi)穩(wěn)定性和魯棒性,提出了計算量獨立于隊列規(guī)模的控制器設計方法,為多型通信拓撲結(jié)構(gòu)下車輛隊列的分布式控制系統(tǒng)設計和穩(wěn)定性分析奠定了基礎。首先對具有非線性節(jié)點動力學的車輛隊列進行動力學建模。將車輛控制系統(tǒng)分為上、下兩層,下層系統(tǒng)通過反饋線性化技術以獲得帶慣性延遲的線性車輛模型,上層系統(tǒng)采用分布式控制律以保持期望的隊列幾何構(gòu)型。將通信拓撲建模為有向圖,以拉普拉斯陣描述隊列成員車之間的信息交互關系,從而建立起包含節(jié)點動力學、隊列幾何拓撲、通信拓撲和分布式控制律的四元素高維車輛隊列模型。然后對多型通信拓撲動力學耦合下的四元素高維車輛隊列模型進行閉環(huán)內(nèi)穩(wěn)定性分析。將高維度車輛隊列的穩(wěn)定性問題轉(zhuǎn)化為低維度子模態(tài)的穩(wěn)定性問題,在實數(shù)域中給出了一般通信拓撲下車輛隊列系統(tǒng)的低維度穩(wěn)定性充分必要條件。通過里卡蒂(Riccati)不等式將通信拓撲具體結(jié)構(gòu)與控制器的設計解耦,以通信拓撲陣特征值對線性矩陣不等式可行域的影響表征通信拓撲結(jié)構(gòu)對車輛隊列內(nèi)穩(wěn)定性的影響,使得控制器求解計算量獨立于隊列規(guī)模。其次分析了勻質(zhì)/異質(zhì)參數(shù)攝動下車輛隊列的內(nèi)穩(wěn)定性條件�；谒岢龅目刂破髟O計方法,證明了時變勻質(zhì)參數(shù)攝動下車輛隊列的穩(wěn)定性取決于時間常數(shù)取攝動上界時隊列系統(tǒng)的穩(wěn)定性。通過將異質(zhì)參數(shù)攝動表達為范數(shù)有界形式,結(jié)合車輛模型的結(jié)構(gòu)特點,給出了控制器所能鎮(zhèn)定的異質(zhì)參數(shù)攝動區(qū)間。為適應復雜的交通環(huán)境,進一步討論了異質(zhì)通信時延和隨機通信拓撲切換對車輛隊列內(nèi)穩(wěn)定性的影響。給出了異質(zhì)通信時延上界,所設計控制器能夠保證不大于該上界的異質(zhì)通信時延下車輛隊列系統(tǒng)的內(nèi)穩(wěn)定性。一般通信拓撲切換條件下,若子通信拓撲均具有有向生成樹,且平均駐留時間不小于本文所提出的下界,則隊列系統(tǒng)內(nèi)穩(wěn)定性得到保證。而對稱通信拓撲切換條件下,車輛隊列系統(tǒng)的內(nèi)穩(wěn)定性需要通信拓撲在有限時間內(nèi)具有聯(lián)合生成樹。最后,開展了基于動態(tài)模擬試驗臺的車輛隊列試驗研究。試驗結(jié)果表明,所設計的控制器在勻質(zhì)/異質(zhì)參數(shù)攝動下、異質(zhì)時延下以及通信拓撲切換情況下均能保證車輛隊列系統(tǒng)的魯棒性。
[Abstract]:By introducing wireless communication, the vehicle queue expands the environmental awareness of the member vehicle, and adopts a more compact geometry car-following strategy on the basis of security, which can improve the traffic efficiency and reduce the energy consumption. It is the important development direction of intelligent transportation. The existing research involves a single communication topology without considering the influence of modeling uncertainty and communication disturbance, so it is difficult to adapt to the complex and changeable traffic environment. Aiming at these problems, based on the four-element vehicle queue model, this paper studies the internal stability and robustness of vehicle queue under multi-type communication topology, and proposes a controller design method independent of queue size. It lays a foundation for the design and stability analysis of the distributed control system of vehicle queue under multi-type communication topology. Firstly, the vehicle queue with nonlinear node dynamics is modeled. The vehicle control system is divided into upper and lower layers, and the lower system adopts feedback linearization technique to obtain the linear vehicle model with inertial delay, and the upper system adopts distributed control law to maintain the desired queue geometry. The communication topology is modeled as a directed graph, and the information interaction between queue members is described by Laplace matrix, and then the dynamics of nodes and the geometry topology of queue are established. A four-element high-dimensional vehicle queue model for communication topology and distributed control law. Then the four-element high-dimensional vehicle queue model with multi-type communication topology dynamics coupling is analyzed. The stability problem of high-dimensional vehicle queue is transformed into the stability problem of low-dimensional submodal. The sufficient and necessary conditions for the low-dimensional stability of vehicle queue system under general communication topology are given in the real number domain. The specific structure of communication topology and the design of controller are decoupled by Riccati (Riccati) inequality, and the influence of eigenvalue of communication topology matrix on the feasible region of linear matrix inequality (LMI) is used to characterize the influence of communication topology structure on the stability of vehicle queue. The computation of the controller is independent of the queue size. Secondly, the internal stability conditions of vehicle queue with homogeneous / heterogeneous parameter perturbation are analyzed. Based on the proposed controller design method, it is proved that the stability of vehicle queue under time-varying homogeneous parameter perturbation depends on the stability of queue system when the time constant perturbs the upper bound. By expressing the perturbation of heterogeneous parameters as a norm bounded form and combining the structural characteristics of the vehicle model, the perturbation interval of the heterogeneous parameters can be stabilized by the controller is given. In order to adapt to the complex traffic environment, the effects of heterogeneous communication delay and random communication topology switching on the stability of vehicle queue are further discussed. The upper bound of heterogeneous communication delay is given, and the controller designed can guarantee the internal stability of vehicle queue system with heterogeneous communication delay not greater than the upper bound. If the subcommunication topology has a directed spanning tree and the average resident time is not less than the lower bound proposed in this paper, the stability of the queue system can be guaranteed under the general communication topology switching condition. Under the condition of symmetric communication topology switching, the internal stability of the vehicle queue system requires that the communication topology has a joint spanning tree in a finite time. Finally, the vehicle queue test research based on dynamic simulation test bench is carried out. The experimental results show that the proposed controller can ensure the robustness of the vehicle queue system under homogeneous / heterogeneous parameter perturbation, heterogeneous delay and communication topology switching.
【學位授予單位】：清華大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：U495
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本文編號：2374546