自主车辆队列控制系统的稳定性分析
2023,31(2):122-128
摘要：针对含通信时延的车辆队列系统，开展内部稳定性和队列稳定性分析研究；首先，利用矩阵相似变换，将高维车辆队列闭环控制系统降维拆分为若干等价的低维子系统，极大地降低了内部稳定性分析的解析难度和运算量；在此基础上，利用直接法求解了车辆队列子系统特征方程的临界虚根，从而推导了准确的时延边界，获得了车辆队列系统内部稳定的充要条件；然后，为了保证干扰沿车辆队列向后传播时不扩散，通过频域分析车辆间误差传递函数，给出了系统的队列稳定性条件，以及时延和控制器参数的指导原则；最后，通过仿真验证了所提稳定性分析方法的有效性。
关键词：车辆队列；通信时延；内部稳定；队列稳定；直接法；时延边界
Stability Analysis of Vehicle Platoon System with Communication Delay
Abstract：The internal stability and string stability of vehicle platoon system with communication delay are studied. Firstly, the high-dimensional vehicle platoon closed-loop control system is divided into several equivalent low-dimensional subsystems by matrix similarity transformation, which greatly reduces the analytical difficulty and computational complexity of internal stability analysis. On this basis, the direct method is used to solve the critical virtual root of vehicle platoon subsystems, the accurate delay boundary is deduced accordingly, and the sufficient and necessary conditions for the internal stability of the system are obtained. Then, in order to ensure the disturbance is not amplified in the process of propagation along the vehicle platoon, The string stability conditions of the vehicle platoon system are given by analyzing the error transfer function along the vehicles, and the guiding principles of delay and controller parameters are given. Finally, the effectiveness of the proposed stability analysis method is verified by simulation.
Key words：Vehicle platoon; Communication delay; Internal stability; String stability; Direct method; Delay boundary
收稿日期：2022-07-01
基金项目：国家自然科学(62003054)；陕西省重点研发计划项目(2020GY113)；中央高校基本科研业务费资助项目(300102320109)；大学生创新创业计划项目(1516270788540502016)。
