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为实现商用车自适应巡航控制(ACC)系统的功能,开发了双模式制动执行装置和电子油门控制装置,即基于高速开关阀的商用车气压电控辅助制动系统和双模式油门控制系统,可以实现驾驶员和ACC系统的协同切换控制。在此基础上,以某商用车为对象,设计了ACC系统,结合比例-积分控制器和Smith预估补偿器设计了ACC的下位控制算法。结果表明:该ACC系统速度稳态跟踪误差小于1 m.s-1,距离稳态跟踪误差小于1.5 m;同时油门执行器和制动执行器具有安装方便、与原车电子油门及气压制动系统兼容性好的优点。
In order to realize the function of commercial vehicle adaptive cruise control (ACC) system, a dual-mode brake actuator and an electronic throttle control device have been developed, that is, a commercial vehicle pneumatic electronically controlled auxiliary brake system and a dual mode accelerator control system based on a high-speed on-off valve , Can achieve driver and ACC system coordinated switch control. On this basis, the ACC system is designed for a commercial vehicle, and the lower control algorithm of ACC is designed by combining proportional-integral controller and Smith predictive compensator. The results show that the steady-state tracking error of the ACC system is less than 1 ms-1 and the tracking error of the steady state is less than 1.5 m. Meanwhile, the accelerator actuator and the brake actuator are easy to install and are compatible with the original car electronic throttle and the air brake system Good sexual advantage.