基于驾驶机器人操纵的车辆起步质量研究

提出以车速跟踪偏差、冲击度、滑磨功为基于驾驶机器人操纵的车辆起步质量评价指标,选取发动机油门开度、离合器输出轴转速、离合器主从动轴转速差及离合器输出转速变化值作为起步过程控制参数进行车辆起步质量控制研究.确定了这些控制参数的控制规则,并提出了基于积分分离PID控制的起步离合器控制算法.试验结果表明,采用本文提出的起步质量控制策略与控制算法,可保证离合器接合过程中车速跟踪偏差不超过1.5 km/h、最大冲击度值为8.08 m/s3、起步时间约为1.5 s.

Research on Starting-up Quality of Vehicles Based on Robot Driver Manipulation

Velocity tracking error,the degree of impact and the slipping friction power were presented as the evaluation indexes on starting-up quality of vehicle based on robot driver manipulation.The control parameters of startingup process,including throttle angle,rotating speed of output shaft of clutch,speed difference between the driving shaft and the driven shaft in clutch and variation of output speed of clutch,were selected as control parameters for the vehicle starting-up control analysis.Then,the control rules of the presented parameters were determined,and the starting-up clutch control algorithm based on integral separating PID was presented.The results show that the velocity tracking error is less than 1.5 km/h,the maximum degree of impact is under 8.08 m/s3,and the time of starting-up is about 1.5 s.