کنترل جریان‌های ترافیکی هوشمند ناهمگن با ساختار دوسویه و در حضور داده‌های ازدست‌رفته، تاخیر ارتباطی زمان-متغیر و تاخیر عملگری

نوع مقاله : مقاله پژوهشی

نویسنده

استادیار، گروه مهندسی مکانیک، دانشگاه آیت ا... بروجردی، بروجرد، ایران

چکیده

در این مقاله به تحلیل پایداری داخلی، رشته‌ای و کنترل جریان‌های ترافیکی هوشمند با ساختار ارتباطی دوسویه درحضور تاخیر زمانی ارتباطی، تاخیر عملگری و داده‌های ازدست‌رفته پرداخته می‌شود. در جریان‌های ترافیکی، پدیده داده‌های از دست‌رفته به واسطه حجم زیاد اطلاعات در حال تبادل بسیار محتمل می‌باشد. از سویی دیگر، پدیده تاخیر زمانی ارتباطی نیز از مشخصه‌های سیستم‌های ارتباطی به شمار می‌آید. همچنین، به دلیل اینرسی بالا تاخیر عملگری یک ویژگی ذاتی موتور خودرو می‌باشد. در این تحقیق، یک مدل دینامیکی مرتبه سه برای توصیف حرکت طولی خودروهای هوشمند در جریان ترافیکی درنظرگرفته‌می‌شود. استراتژی فاصله ثابت برای تنظیم فاصله بین‌خودرویی استفاده می‌شود. با لحاظ همزمان داده‌های ازدست‌رفته، تاخیر زمانی ارتباطی و تاخیر عملگری و بر اساس ساختار دوسویه، کنترل‌کننده‌ای خطی برای هر خودرو در نظر گرفته شده و دینامیک حلقه‌بسته سیستم استخراج می‌گردد. با استفاده از قضیه لیاپانوف- کراسوفسکی به تحلیل پایداری سیستم حلقه‌بسته پرداخته می‌شود و شرایط کافی برای تضمین پایداری داخلی جریان ترافیکی معرفی می‌گردد. در ادامه، با تحلیل معادله حلقه بسته هر خودرو در حوزه فرکانس، قیود لازم روی ضرایب کنترلی که تضمین‌کننده پایداری رشته‌ای هستند بدست می‌آید. در پایان، روش‌های ارائه‌شده در این مقاله، به کمک شبیه‌سازی‌های متعدد مورد اعتبارسنجی قرار خواهند گرفت.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Control of heterogeneous traffic flows in presence of pocket loss, time-varying communication delay and actuator lag

نویسنده [English]

  • Hossein Chehardoli
PhD assistant, Department of Mechanical Engineering, Ayatollah Boroujerdi University
چکیده [English]

This paper deals with the control design and internal and string stability analysis of heterogeneous traffic flows with bi-directional communication topology under random data loss, time-varying communication delay, and actuator lag. A third-order linear model is employed to describe the longitudinal dynamics of each vehicle and the constant spacing policy is employed to adjust the inter-vehicle spacing. In the practical implementation of vehicular networks, due to the high amount of different exchanged information between vehicles and infrastructures, data loss and communication delay are unavoidable effects that may cause adverse effects on the closed-loop performance. Moreover, the actuator lag is an inherent characteristic of the engine which causes delay in implementing the control commands. Therefore, all these issues are considered in system modeling and stability analysis, simultaneously. A linear control protocol using the relative position and velocity measurements with respect to predecessor and subsequent vehicles is introduced for each following vehicle. The Lyapunov-Krassovskii theorem is employed to derive the necessary conditions on control parameters assuring internal stability. Afterward, by performing the error propagation analysis in the frequency domain, sufficient conditions on control parameters assuring string stability are obtained. Finally, several simulation results are provided to show the effectiveness of the presented algorithm.

کلیدواژه‌ها [English]

  • Heterogeneous traffic flow
  • Internal stability
  • String stability
  • Data loss
  • Time Delay
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