重型车辆走－停巡航系统的干扰解耦控制

根据低速行驶工况下重型车辆的加/减速度响应特性，建立融合被控车辆及车间动力学特性的巡航系统非线性动力学模型。在此基础上采用非线性输出干扰解耦原理，将控制目标值（车间相对距离、速度）从系统的前导车加/减速度干扰中完全解耦出来，并实现非线性系统的线性化；基于此解耦线性化子系统，设计一种改进的走－停自适应巡航控制系统。该系统不但能够保证控制目标值取得良好的动态响应特性，而且能够实现对前导车加/减速干扰的全局解耦，可提高系统的鲁棒性，仿真计算验证了控制效果。

DISTURBANCE DECOUPLING CONTROL OF HEAVY-DUTY VEHICLE STOP AND GO CRUISE SYSTEMS

A vehicle cruise system is modeled by integrating the dynamics characters of heavy-duty vehicle and vehicle convoy consisting two vehicles on low speed condition. Based on the model, the nonlinear disturbance decoupling theory is applied to separate the desired control object (inter vehicles relative distance and velocity) from the disturbance of leading vehicle's ace/deceleration, and realize the linearization of nonlinear system simultaneously. By adopting this decoupling linear subsystem, a developed stop and go cruise control systems is proposed. Computer simulation are conducted to illustrate the performance of control systems, the test results show that not only satisfying dynamic response characteristics are obtained, but also global decoupling from disturbance of leading vehicle's ace/deceleration can be realized. The simulating calculation verifies the effect of the control.