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串行稳定性是在智能交通系统中车辆队列平稳行驶所必需强调的一个基本问题。该文提出并分析了6种自适应巡航控制(ACC)算法的串行稳定性条件。ACC控制系统经过简化,由一个主环控制算法和一个近似为一阶滞后的伺服环组成。验证了6个复杂递增的主环控制律,这些控制律设计为确保希望的车辆间恒定车头时距。车距误差传函的无穷范数是用于评价串行稳定性的度量指标。研究发现串行稳定性通常影响主环反馈增益和/或伺服环时间常数产生的不等约束,这些约束的严格程度依赖于所得到的所馈信息以及反馈控制的特性。
Serial stability is one of the basic issues that must be stressed in the smooth running of a vehicle queue in an intelligent transportation system. This paper presents and analyzes the serial stability conditions of six adaptive cruise control (ACC) algorithms. The ACC control system is simplified and consists of a main loop control algorithm and a servo loop of approximately first-order lag. Six complex and increasing primary loop controls were verified that were designed to ensure a constant headway between desired vehicles. The infinite norm of a pitch error transfer is a measure of serial stability. It has been found that the stability of the serial system usually affects the unequal constraints caused by the main loop feedback gain and / or the servo loop time constant. The strictness of these constraints depends on the resulting information fed back and the characteristics of the feedback control.