CN113147396B - Vehicle speed control method and device - Google Patents

Vehicle speed control method and device Download PDF

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Publication number
CN113147396B
CN113147396B CN202110522397.0A CN202110522397A CN113147396B CN 113147396 B CN113147396 B CN 113147396B CN 202110522397 A CN202110522397 A CN 202110522397A CN 113147396 B CN113147396 B CN 113147396B
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vehicle
engine system
equation
vehicle speed
extended state
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CN113147396A (en
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刘兴义
吕宪勇
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Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
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Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator

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  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

The invention discloses a vehicle speed control method and a vehicle speed control device, wherein the vehicle speed control method comprises the steps of establishing a vehicle dynamics equation of an engine system; constructing an expansion state equation of the engine system based on a vehicle dynamics equation; obtaining an extended state observer according to an extended state equation; establishing a proportional controller of an engine system based on a vehicle dynamics equation; determining the traction torque of an engine system according to a vehicle dynamic equation, a proportional controller and an extended state observer; tractive torque is input as an input to a closed loop controller of an engine system. The invention solves the technical problems that the vehicle speed following response is slow and a large number of parameters need to be calibrated when the vehicle speed of the whole vehicle is controlled by using the traditional PID control in the prior art, and realizes the technical effect of reducing the calibration workload of the engine system while improving the responsiveness of the engine system.

Description

Vehicle speed control method and device
Technical Field
The embodiment of the invention relates to the technical field of vehicle speed control, in particular to a vehicle speed control method and device.
Background
At present, PID feedback control is mostly adopted for controlling the speed of the whole vehicle of an engine system, or the closed-loop control of the speed of the whole vehicle is realized by adopting a mode of combining PID feedback control with MAP feedforward control.
However, whether the feedforward control part or the feedback control part is adopted, a great number of parameters need to be calibrated by using a classical PID control method, and the vehicle speed is slower in following response due to the fact that a certain time is needed for feedback.
Disclosure of Invention
The invention provides a vehicle speed control method and a vehicle speed control device, which solve the technical problems that the vehicle speed following response is slow and a large number of parameters need to be calibrated when the vehicle speed of a whole vehicle is controlled by using the traditional PID control in the prior art.
The embodiment of the invention provides a vehicle speed control method, which comprises the following steps:
establishing a vehicle dynamic equation of an engine system;
constructing an expansion state equation of the engine system based on the vehicle dynamics equation;
obtaining an extended state observer according to the extended state equation;
establishing a proportional controller of an engine system based on the vehicle dynamics equation;
determining a tractive torque of the engine system from the vehicle dynamics equation, the proportional controller, and the extended state observer;
inputting the tractive torque as an input into a closed loop controller of the engine system.
Further, the establishing of the vehicle dynamics equation of the engine system includes:
And obtaining a vehicle dynamics equation according to the whole vehicle parameters, the traction torque of the engine, the total load torque of the vehicle, the current vehicle speed and the gradient value, wherein the whole vehicle parameters comprise the whole vehicle mass, the conversion coefficient of the vehicle rotating mass, the transmission ratio of the gearbox, the main reduction ratio, the vehicle transmission system efficiency and the wheel radius.
Further, the obtaining of the vehicle dynamics equation according to the vehicle parameters, the traction torque of the engine, the total load torque of the vehicle, the current vehicle speed and the slope value comprises:
constructing the vehicle dynamics equation
Figure BDA0003064545960000021
Wherein m is the vehicle mass, delta is the vehicle rotating mass conversion coefficient, igFor the transmission ratio of the gearbox, i0Is the final reduction ratio, η the vehicle driveline efficiency, r is the wheel radius, T is the engine tractive torque, f0Is the vehicle total load torque, v is the current vehicle speed,
Figure BDA0003064545960000022
is the derivative of v, and theta is the slope value.
Further, constructing an expansion equation of state for the engine system based on the vehicle dynamics equations includes:
extracting parameters of the vehicle dynamics equation;
and constructing the expansion state equation by using the parameters of the vehicle dynamic equation.
Further, after extracting the parameters of the vehicle dynamics equation, the constructing the expansion state equation using the parameters of the vehicle dynamics equation includes:
Let x1＝v，x2＝f(v,f0,θ,m)，
Figure BDA0003064545960000023
u-T, wherein,
Figure BDA0003064545960000024
is x2A derivative of (a);
constructing the expansion equation of state using coefficients of the vehicle dynamics equation:
Figure BDA0003064545960000025
y＝Cx，
wherein the content of the first and second substances,
Figure BDA0003064545960000026
C＝[1 0]，
Figure BDA0003064545960000027
is the derivative of x.
Further, the obtaining the extended state observer according to the extended state equation comprises:
let the estimate of x be
Figure BDA0003064545960000031
An estimate of the output y is
Figure BDA0003064545960000032
Gain matrix of the extended state observer
Figure BDA0003064545960000033
The extended state observer is then:
Figure BDA0003064545960000034
Figure BDA0003064545960000035
wherein the content of the first and second substances,
Figure BDA0003064545960000036
is x1Is determined by the estimated value of (c),
Figure BDA0003064545960000037
is x2Estimate of beta1And beta2All gain matrix coefficients of the extended state observer.
Further, the proportional controller for establishing an engine system based on the vehicle dynamics equation includes:
determining an order of the engine system from the vehicle dynamics equation;
the proportional controller is established based on an order of the engine system.
Further, when the order of the engine system is determined to be first order by the vehicle dynamics equation, the establishing the proportional controller based on the order of the engine system includes:
establishing the proportional controller
Figure BDA0003064545960000038
Wherein, KpIs a proportional control parameter, v is the current vehicle speed,
Figure BDA0003064545960000039
is a derivative of the current vehicle speed v, vrefA set vehicle speed value for the engine system.
Further, the determining tractive torque of the engine system from the vehicle dynamics equation, the proportional controller, and the extended state observer includes:
estimating a disturbance value f (v, f) of the engine system based on the extended state observer0,θ,m)；
Determining tractive torque of the engine system from the vehicle dynamics equation, the proportional controller, and a disturbance value of the engine system
Figure BDA00030645459600000310
An embodiment of the present invention further provides a vehicle speed control device, including:
the first establishing unit is used for establishing a vehicle dynamic equation of the engine system;
a second establishing unit for establishing an expansion state equation of the engine system based on the vehicle dynamic equation;
the conversion unit is used for obtaining an extended state observer according to the extended state equation;
a third establishing unit for establishing a proportional controller of the engine system based on the vehicle dynamics equation;
a determination unit for determining a tractive torque of the engine system from the vehicle dynamics equation, the proportional controller and the extended state observer;
and the control unit is used for inputting the traction torque as an input quantity into a closed-loop controller of the engine system.
The invention discloses a vehicle speed control method and a device, wherein the vehicle speed control method comprises the steps of establishing a vehicle dynamic equation of an engine system; constructing an expansion state equation of the engine system based on a vehicle dynamics equation; obtaining an extended state observer according to an extended state equation; establishing a proportional controller of an engine system based on a vehicle dynamics equation; determining the traction torque of the engine system according to a vehicle dynamic equation, a proportional controller and an extended state observer; the tractive torque is input as an input to a closed loop controller of the engine system. According to the invention, the total disturbance in the engine system is directly estimated by using the extended state observer, and the estimated total disturbance is used for participating in the closed-loop feedback control of the engine system, so that the technical problems that the vehicle speed following response is slow and a large number of parameters need to be calibrated when the vehicle speed of the whole vehicle is controlled by using the traditional PID control in the prior art are solved, and the technical effects of improving the responsiveness of the engine system and reducing the calibration workload of the engine system are realized.
Drawings
FIG. 1 is a flow chart of a method for controlling vehicle speed according to an embodiment of the present invention;
FIG. 2 is a block diagram of a closed loop control of an engine system provided in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of another method of controlling vehicle speed provided by an embodiment of the present invention;
FIG. 4 is a flow chart of yet another method of controlling vehicle speed provided by an embodiment of the present invention;
FIG. 5 is a flow chart of yet another method of controlling vehicle speed provided by an embodiment of the present invention;
FIG. 6 is a flow chart of yet another method of controlling vehicle speed provided by an embodiment of the present invention;
fig. 7 is a structural diagram of a vehicle speed control device provided in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that the terms "first", "second", and the like in the description and claims of the present invention and the accompanying drawings are used for distinguishing different objects, and are not used for limiting a specific order. The following embodiments of the present invention may be implemented individually, or in combination with each other, and the embodiments of the present invention are not limited in this respect.
Fig. 1 is a flowchart of a vehicle speed control method according to an embodiment of the present invention.
As shown in fig. 1, the vehicle speed control method specifically includes the steps of:
step S101, a vehicle dynamic equation of an engine system is established.
Specifically, vehicle dynamics equations are constructed
Figure BDA0003064545960000051
Wherein m is the mass of the whole automobile, delta is the conversion coefficient of the rotating mass of the automobile, igTo the transmission ratio of the gearbox, i0Is the final reduction ratio, eta vehicle driveline efficiency, r is the wheel radius, T is the tractive torque of the engine, f0Is the total load torque of the vehicle, v is the current vehicle speed,
Figure BDA0003064545960000061
is the derivative of v and theta is the slope value.
Note that, the vehicle total load torque f0Including frictional resistance, wind resistance, slope resistance, and model error, and vehicle total load torque f0Is a non-linear function of parameters such as vehicle speed, friction coefficient, gradient, etc., delta, ig、i0Eta, r and the like are constants which can be directly obtained after the vehicle is shaped; the mass m of the whole vehicle is empty vehicle mass, the error of the empty vehicle mass and the actual vehicle weight can be calculated as a model error, and f (v, f) is put into0θ, m).
Step S102, an expansion state equation of the engine system is constructed based on the vehicle dynamic equation.
Specifically, after the vehicle dynamics equation is constructed, let x 1＝v，x2＝f(v,f0,θ,m)，
Figure BDA0003064545960000062
And if u is equal to T, constructing an expansion state equation of the engine system as follows:
Figure BDA0003064545960000063
y＝Cx，
wherein:
Figure BDA0003064545960000064
C＝[1 0]，
Figure BDA0003064545960000065
is the derivative of x.
And step S103, obtaining the extended state observer according to the extended state equation.
Optionally, after obtaining the expansion equation of state, let the estimated value of x be
Figure BDA0003064545960000066
An estimate of the output y is
Figure BDA0003064545960000067
Gain matrix of extended state observer
Figure BDA0003064545960000068
The extended state observer is then:
Figure BDA0003064545960000069
Figure BDA00030645459600000610
wherein the content of the first and second substances,
Figure BDA00030645459600000611
is x1Is determined by the estimated value of (c),
Figure BDA00030645459600000612
is x2Estimate of beta1And beta2Are the gain matrix coefficients of the extended state observer.
In the control process, the gain matrix L is configured, so that the matrix characteristic root of the A-LC is in the left half part of the complex plane, and the extended state observer is stable.
Step S104, a proportional controller of the engine system is established based on the vehicle dynamics equation.
In particular, according to the vehicle dynamics equation
Figure BDA0003064545960000071
Knowing that the engine system is a first order system, a proportional controller for the engine system is established as
Figure BDA0003064545960000072
Wherein, KpIs a proportional control parameter, v is the current vehicle speed,
Figure BDA0003064545960000073
is a derivative of the current vehicle speed v, vrefA set vehicle speed value for the engine system.
And step S105, determining the traction torque of the engine system according to the vehicle dynamic equation, the proportional controller and the extended state observer.
In particular, the total disturbance f (v, f) of the engine system can be directly estimated by the extended state observer0θ, m), then based on vehicle dynamics equations
Figure BDA0003064545960000074
Proportional controller
Figure BDA0003064545960000075
And a perturbation value f (v, f)0θ, m) determining the tractive torque moment of the engine system
Figure BDA0003064545960000076
Step S106, the traction torque is input into a closed-loop controller of the engine system as an input quantity.
FIG. 2 is a block diagram of a closed loop control of an engine system according to an embodiment of the present invention.
Specifically, as shown in FIG. 2, the p-controller represents the proportional control parameter KpInputting the calculated traction torque T as an input into a closed-loop controller of the engine system, and directly estimating by using an extended state observer
Figure BDA0003064545960000077
And
Figure BDA0003064545960000078
i.e. to estimate an estimate of the current vehicle speed v and a disturbance value f (v, f) of the engine system0θ, m) and directly feeding back the estimated disturbance part to a closed-loop controller of the engine system, thereby realizing the control of the vehicle speed; and most parameters are inherent parameters of the engine system, so that the parameters can be directly acquired, and the calibration workload is effectively reduced.
The invention directly estimates the total disturbance in the engine system by using the extended state observer, and utilizes the estimated total disturbance to participate in the closed-loop feedback control of the engine system, thereby solving the technical problems that the vehicle speed following response is slow and a large number of parameters need to be calibrated when the vehicle speed of the whole vehicle is controlled by using the traditional PID control in the prior art, realizing the technical effect of improving the responsiveness of the engine system and reducing the calibration workload of the engine system, and simultaneously improving the control responsiveness of the vehicle speed of the whole vehicle on the premise of not increasing the cost and reducing the calibration workload, thereby improving the product competitiveness and having good market prospect.
Based on the technical scheme, the vehicle dynamics equation for establishing the engine system is optimized. Fig. 3 is a flowchart of another vehicle speed control method according to an embodiment of the present invention, and as shown in fig. 3, the vehicle speed control method according to the embodiment includes the following steps:
step S301, a vehicle dynamic equation is obtained according to vehicle parameters, traction torque of an engine, total load torque of a vehicle, current vehicle speed and a gradient value, wherein the vehicle parameters comprise vehicle mass, vehicle rotating mass conversion coefficient, transmission ratio of a gearbox, final reduction ratio, vehicle transmission system efficiency and wheel radius.
Optionally, in step S301, obtaining a vehicle dynamics equation according to the vehicle parameters, the traction torque of the engine, the total load torque of the vehicle, the current vehicle speed, and the gradient value includes: constructing vehicle dynamics equations
Figure BDA0003064545960000081
Wherein m is the mass of the whole automobile, delta is the conversion coefficient of the rotating mass of the automobile, igTo the transmission ratio of the gearbox, i0Is the final reduction ratio, eta vehicle driveline efficiency, r is the wheel radius, T is the tractive torque of the engine, f0Is the total load torque of the vehicle, v is the current vehicle speed,
Figure BDA0003064545960000082
is the derivative of v and theta is the slope value.
Step S302, an expansion state equation of the engine system is constructed based on the vehicle dynamic equation.
And step S303, obtaining the extended state observer according to the extended state equation.
Step S304, a proportional controller of the engine system is established based on the vehicle dynamics equation.
Step S305, determining the traction torque of the engine system according to the vehicle dynamic equation, the proportional controller and the extended state observer.
Step S306, the traction torque is input as an input to a closed-loop controller of the engine system.
The invention directly estimates the total disturbance in the engine system by using the extended state observer, and utilizes the estimated total disturbance to participate in the closed-loop feedback control of the engine system, thereby solving the technical problems that the vehicle speed following response is slow and a large number of parameters need to be calibrated when the vehicle speed of the whole vehicle is controlled by using the traditional PID control in the prior art, realizing the technical effect of improving the responsiveness of the engine system and reducing the calibration workload of the engine system, and simultaneously improving the control responsiveness of the vehicle speed of the whole vehicle on the premise of not increasing the cost and reducing the calibration workload, thereby improving the product competitiveness and having good market prospect.
Based on the technical scheme, the expansion state equation of the engine system constructed based on the vehicle dynamics equation is optimized. Fig. 4 is a flowchart of another vehicle speed control method according to an embodiment of the present invention, and as shown in fig. 4, the vehicle speed control method according to the embodiment includes the following steps:
Step S401, a vehicle dynamic equation of an engine system is established.
In step S402, parameters of a vehicle dynamics equation are extracted.
In particular, according to the vehicle dynamics equation
Figure BDA0003064545960000091
As can be seen, the parameters are m.delta.. alpha.,
Figure BDA0003064545960000092
And the like.
And S403, constructing an expansion state equation by using the parameters of the vehicle dynamic equation.
Optionally, after extracting the parameters of the vehicle dynamics equation at step S402, constructing the expansion state equation using the parameters of the vehicle dynamics equation at step S403 includes: let x1＝v，x2＝f(v,f0,θ,m)，
Figure BDA0003064545960000093
u-T, wherein,
Figure BDA0003064545960000094
is x2A derivative of (a); and (3) constructing an expansion state equation by using the coefficients of the vehicle dynamic equation:
Figure BDA0003064545960000101
y＝Cx，
wherein the content of the first and second substances,
Figure BDA0003064545960000102
C＝[1 0]，
Figure BDA0003064545960000103
is the derivative of x.
And S404, obtaining the extended state observer according to the extended state equation.
In step S405, a proportional controller of the engine system is established based on vehicle dynamics equations.
Step S406, determining the traction torque of the engine system according to the vehicle dynamic equation, the proportional controller and the extended state observer.
In step S407, the traction torque is input as an input amount to a closed-loop controller of the engine system.
The invention directly estimates the total disturbance in the engine system by using the extended state observer, and utilizes the estimated total disturbance to participate in the closed-loop feedback control of the engine system, thereby solving the technical problems that the vehicle speed following response is slow and a large number of parameters need to be calibrated when the vehicle speed of the whole vehicle is controlled by using the traditional PID control in the prior art, realizing the technical effect of improving the responsiveness of the engine system and reducing the calibration workload of the engine system, and simultaneously improving the control responsiveness of the vehicle speed of the whole vehicle on the premise of not increasing the cost and reducing the calibration workload, thereby improving the product competitiveness and having good market prospect.
Based on the technical scheme, the embodiment optimizes the proportional controller for establishing the engine system based on the vehicle dynamics equation. Fig. 5 is a flowchart of another vehicle speed control method according to an embodiment of the present invention, and as shown in fig. 5, the vehicle speed control method according to the embodiment includes the following steps:
step S501, a vehicle dynamic equation of an engine system is established.
Step S502, an expansion state equation of the engine system is constructed based on the vehicle dynamic equation.
And step S503, obtaining the extended state observer according to the extended state equation.
Step S504, the order of the engine system is determined from the vehicle dynamics equations.
Step S505, a proportional controller is established based on the order of the engine system.
Alternatively, when the order of the engine system is determined to be first order by the vehicle dynamics equation, the establishing a ratio controller based on the order of the engine system includes: establishing a proportional controller
Figure BDA0003064545960000111
Wherein, KpIs a proportional control parameter, v is the current vehicle speed,
Figure BDA0003064545960000112
is a derivative of the current vehicle speed v, vrefA set vehicle speed value for the engine system.
Step S506, determining the traction torque of the engine system according to the vehicle dynamic equation, the proportional controller and the extended state observer.
In step S507, the traction torque is input as an input amount to a closed-loop controller of the engine system.
The invention directly estimates the total disturbance in the engine system by using the extended state observer, and utilizes the estimated total disturbance to participate in the closed-loop feedback control of the engine system, thereby solving the technical problems that the vehicle speed following response is slow and a large number of parameters need to be calibrated when the vehicle speed of the whole vehicle is controlled by using the traditional PID control in the prior art, realizing the technical effect of improving the responsiveness of the engine system and reducing the calibration workload of the engine system, and simultaneously improving the control responsiveness of the vehicle speed of the whole vehicle on the premise of not increasing the cost and reducing the calibration workload, thereby improving the competitiveness of products and having good market prospect.
Based on the technical scheme, the traction torque of the engine system is determined according to the vehicle dynamics equation, the proportional controller and the extended state observer, and the traction torque is optimized. Fig. 6 is a flowchart of another vehicle speed control method according to an embodiment of the present invention, and as shown in fig. 6, the vehicle speed control method according to the embodiment includes the steps of:
Step S601, a vehicle dynamics equation of the engine system is established.
Step S602, an expansion state equation of the engine system is constructed based on the vehicle dynamic equation.
And step S603, obtaining the extended state observer according to the extended state equation.
Step S604, a proportional controller of the engine system is established based on the vehicle dynamics equation.
Step S605, estimating a disturbance value f (v, f) of the engine system based on the extended state observer0,θ,m)。
Step S606, determining traction torque of the engine system according to the vehicle dynamic equation, the proportional controller and the disturbance value of the engine system
Figure BDA0003064545960000121
In step S607, the traction torque is input as an input amount to a closed-loop controller of the engine system.
The invention directly estimates the total disturbance in the engine system by using the extended state observer, and utilizes the estimated total disturbance to participate in the closed-loop feedback control of the engine system, thereby solving the technical problems that the vehicle speed following response is slow and a large number of parameters need to be calibrated when the vehicle speed of the whole vehicle is controlled by using the traditional PID control in the prior art, realizing the technical effect of improving the responsiveness of the engine system and reducing the calibration workload of the engine system, and simultaneously improving the control responsiveness of the vehicle speed of the whole vehicle on the premise of not increasing the cost and reducing the calibration workload, thereby improving the product competitiveness and having good market prospect.
The embodiment of the present invention further provides a vehicle speed control device, which is used for executing the vehicle speed control method provided by the above embodiment of the present invention, and the vehicle speed control device provided by the embodiment of the present invention is specifically described below.
Fig. 7 is a structural diagram of a vehicle speed control device provided in an embodiment of the present invention, and as shown in fig. 7, the vehicle speed control device mainly includes: a first establishing module 71, a second establishing module 72, a converting module 73, a third establishing module 74, a determining module 75, and a control module 76, wherein:
a first establishing module 71 for establishing a vehicle dynamics equation for an engine system;
a second building module 72 for building an expansion equation of state for the engine system based on vehicle dynamics equations;
the conversion module 73 is used for obtaining an extended state observer according to the extended state equation;
a third establishing module 74 for establishing a proportional controller of the engine system based on vehicle dynamics equations;
a determination module 75 for determining a tractive torque of the engine system from the vehicle dynamics equation, the proportional controller, and the extended state observer;
a control module 76 inputs tractive torque as an input to a closed loop controller of the engine system.
Optionally, the first establishing module 71 is specifically configured to: and obtaining a vehicle dynamics equation according to the finished vehicle parameters, the traction torque of an engine, the total load torque of the vehicle, the current vehicle speed and the gradient value, wherein the finished vehicle parameters comprise the finished vehicle mass, the vehicle rotating mass conversion coefficient, the transmission ratio of the gearbox, the main reduction ratio, the vehicle transmission system efficiency and the wheel radius. Namely, the first establishing module 71 is used for establishing the vehicle dynamics equation
Figure BDA0003064545960000131
Figure BDA0003064545960000132
Wherein m is the mass of the whole automobile, delta is the conversion coefficient of the rotating mass of the automobile, igTo the transmission ratio of the gearbox, i0Is the final reduction ratio, eta vehicle driveline efficiency, r is the wheel radius, T is the tractive torque of the engine, f0Is the total load torque of the vehicle, v is the current vehicle speed,
Figure BDA0003064545960000133
is the derivative of v and theta is the slope value.
Optionally, the second establishing module 72 includes:
the parameter extraction submodule is used for extracting parameters of a vehicle dynamic equation;
the first establishing submodule is used for establishing an expansion state equation by utilizing parameters of the vehicle dynamic equation.
Optionally, after the parameter extraction submodule extracts the parameters of the vehicle dynamics equation, the first establishing submodule is specifically configured to: let x1＝v，x2＝f(v,f0,θ,m)，
Figure BDA0003064545960000134
u-T, wherein,
Figure BDA0003064545960000135
is x2A derivative of (a); and (3) constructing an expansion state equation by using the coefficients of the vehicle dynamic equation:
Figure BDA0003064545960000141
y＝Cx，
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003064545960000142
C＝[1 0]，
Figure BDA0003064545960000143
is the derivative of x.
Optionally, the conversion unit 73 is specifically configured to: let the estimate of x be
Figure BDA0003064545960000144
An estimate of the output y is
Figure BDA0003064545960000145
Gain matrix of extended state observer
Figure BDA0003064545960000146
The extended state observer is then:
Figure BDA0003064545960000147
Figure BDA0003064545960000148
wherein the content of the first and second substances,
Figure BDA0003064545960000149
is x1Is determined by the estimated value of (c),
Figure BDA00030645459600001410
is x2Estimate of beta1And beta2Are the gain matrix coefficients of the extended state observer.
Optionally, the third establishing unit 74 includes:
a first determination submodule for determining an order of the engine system from a vehicle dynamics equation;
a second establishing submodule for establishing the proportional controller based on the order of the engine system.
Optionally, when the first determination submodule determines from the vehicle dynamics equation that the order of the engine system is first order, the second establishment submodule is specifically configured to: establishing a proportional controller
Figure BDA00030645459600001411
Wherein, KpIs a proportional control parameter, v is the current vehicle speed,
Figure BDA00030645459600001412
is a derivative of the current vehicle speed v, vrefA set vehicle speed value for the engine system.
Optionally, the determining module 75 comprises:
an estimation submodule for estimating a disturbance value f (v, f) of the engine system based on the extended state observer0,θ,m)；
A second determination submodule for determining a second vehicle speed according to a vehicle dynamics equation,Proportional controller and engine system disturbance value determining traction torque of engine system
Figure BDA0003064545960000151
The device provided by the embodiment of the present invention has the same implementation principle and the same technical effects as those of the foregoing method embodiments, and for the sake of brief description, reference may be made to corresponding contents in the foregoing method embodiments for the parts of the device embodiments that are not mentioned.
The vehicle speed control method provided by the embodiment of the invention has the same technical characteristics as the vehicle speed control device provided by the embodiment, so the same technical problems can be solved, and the same technical effects can be achieved.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention and the technical principles applied thereto. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A vehicle speed control method, characterized by comprising:
establishing a vehicle dynamic equation of an engine system;
constructing an expansion state equation of the engine system based on the vehicle dynamics equation;
obtaining an extended state observer according to the extended state equation;
establishing a proportional controller of an engine system based on the vehicle dynamics equation;
determining a tractive torque of the engine system from the vehicle dynamics equation, the proportional controller, and the extended state observer;
inputting the tractive torque as an input into a closed loop controller of the engine system.
2. The vehicle speed control method according to claim 1, wherein the establishing a vehicle dynamics equation of an engine system includes:
and obtaining a vehicle dynamic equation according to the finished vehicle parameters, the traction torque of an engine, the total load torque of the vehicle, the current vehicle speed and the gradient value, wherein the finished vehicle parameters comprise the finished vehicle mass, the conversion coefficient of the vehicle rotating mass, the transmission ratio of the gearbox, the main reduction ratio, the vehicle transmission system efficiency and the wheel radius.
3. The vehicle speed control method of claim 2, wherein the deriving a vehicle dynamics equation from the vehicle parameters, the traction torque of the engine, the total vehicle load torque, the current vehicle speed, and the grade value comprises:
Constructing the vehicle dynamics equation
Figure FDA0003064545950000011
Wherein m is the vehicle mass, delta is the vehicle rotating mass conversion coefficient, igFor the transmission ratio of the gearbox, i0Is the final reduction ratio, η the vehicle driveline efficiency, r is the wheel radius, T is the engine tractive torque, f0Is the vehicle total load torque, v is the current vehicle speed,
Figure FDA0003064545950000012
is the derivative of v, and theta is the slope value.
4. The vehicle speed control method of claim 3, wherein constructing an expansion state equation of an engine system based on the vehicle dynamics equation comprises:
extracting parameters of the vehicle dynamics equation;
and constructing the expansion state equation by using the parameters of the vehicle dynamic equation.
5. The vehicle speed control method according to claim 4, wherein, after extracting the parameters of the vehicle dynamics equation, the constructing the expansion state equation using the parameters of the vehicle dynamics equation includes:
let x1＝v，x2＝f(v,f0,θ,m)，
Figure FDA0003064545950000021
u-T, wherein,
Figure FDA0003064545950000022
is x2A derivative of (a);
constructing the expansion equation of state using coefficients of the vehicle dynamics equation:
Figure FDA0003064545950000023
y＝Cx，
wherein the content of the first and second substances,
Figure FDA0003064545950000024
C＝[1 0]，
Figure FDA0003064545950000025
Figure FDA0003064545950000026
is the derivative of x.
6. The vehicle speed control method according to claim 5, characterized in that said deriving an extended state observer from the extended state equation includes:
Let the estimate of x be
Figure FDA0003064545950000027
An estimate of the output y is
Figure FDA0003064545950000028
Gain matrix of the extended state observer
Figure FDA0003064545950000029
The extended state observer is then:
Figure FDA00030645459500000210
Figure FDA00030645459500000211
wherein the content of the first and second substances,
Figure FDA00030645459500000212
is x1Is determined by the estimated value of (c),
Figure FDA00030645459500000213
is x2Estimate of beta1And beta2All gain matrix coefficients of the extended state observer.
7. The vehicle speed control method according to claim 1, wherein the establishing a proportional controller of an engine system based on the vehicle dynamics equation includes:
determining an order of the engine system from the vehicle dynamics equation;
the proportional controller is established based on an order of the engine system.
8. The vehicle speed control method according to claim 7, wherein when the order of the engine system is determined to be first order by the vehicle dynamics equation, the establishing the proportional controller based on the order of the engine system includes:
establishing the proportional controller
Figure FDA0003064545950000031
Wherein, KpIs a proportional control parameter, v is the current vehicle speed,
Figure FDA0003064545950000032
is a derivative of the current vehicle speed v, vrefA set vehicle speed value for the engine system.
9. The vehicle speed control method according to claim 8, wherein the determining a tractive torque of the engine system from the vehicle dynamics equation, the proportional controller, and the extended state observer includes:
Estimating a disturbance value f (v, f) of the engine system based on the extended state observer0,θ,m)；
Determining tractive torque of the engine system from the vehicle dynamics equation, the proportional controller, and a disturbance value of the engine system
Figure FDA0003064545950000033
10. A vehicle speed control device, characterized by comprising:
the first establishing unit is used for establishing a vehicle dynamic equation of the engine system;
a second establishing unit for establishing an expansion state equation of the engine system based on the vehicle dynamic equation;
the conversion unit is used for obtaining an extended state observer according to the extended state equation;
a third establishing unit for establishing a proportional controller of the engine system based on the vehicle dynamics equation;
a determination unit for determining a tractive torque of the engine system from the vehicle dynamics equation, the proportional controller and the extended state observer;
and the control unit is used for inputting the traction torque as an input quantity into a closed-loop controller of the engine system.
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