【摘要】 针对多前车跟随(MPF)通信拓扑下车辆队列固有阻尼振荡机理不明导致队列振荡的问题，旨在揭示MPF拓扑下车辆队列的阻尼振荡特性，并提出兼顾队列串稳定性与收敛快速性的振荡抑制方法。首先，对满足二阶纵向动力学的车辆队列系统，推导其在MPF拓扑下自然频率与阻尼比的数学表达形式，用于刻画其固有振荡特性。其次，以加权MPF-Helly模型为例，联立系统的串稳定性约束条件与阻尼比表达式，推导模型中敏感度参数关于阻尼比与串稳定性的解析表达式，建立综合阻尼特性、串稳定性及收敛快速性的敏感度参数确定框架。最后，基于车辆队列系统的阻尼振荡特性，设计一种根据外界扰动强度自适应调节系统阻尼比的变阻尼振荡抑制策略。研究结果表明：串稳定性和阻尼特性相互影响，串不稳定会加剧车辆队列系统的振荡行为；在串稳定和过阻尼条件下，阻尼比接近临界阻尼的系统能在不引起超调的情况下快速调整状态，较好地平衡系统抑制振荡和快速收敛的需求；接近自然频率的扰动引起了系统最大幅度的振荡，根据扰动强度调节系统参数改变系统阻尼比可以有效抑制振荡。研究结果揭示了MPF拓扑下车辆队列阻尼特性和串稳定性相互作用的机理，通过合理设计模型参数使系统在满足串稳定性的前提下接近临界阻尼，能够实现车辆队列系统振荡抑制与快速响应的平衡。更多还原

【Abstract】 To address the issue of vehicle platoon oscillation caused by the unclear inherent damping oscillation mechanism under the multiple-predecessor-following(MPF) communication topology, this paper aimed at revealing the damping oscillation property of vehicle platoons under the MPF topology and proposing an oscillation suppression method for balancing string stability and rapid convergence. First, for a vehicle platoon system satisfying second-order longitudinal dynamics, the mathematical expressions of the natural frequency and damping ratio under the MPF topology were derived to characterize its inherent oscillation properties. Second, taking the weighted MPF-Helly model as an example, the string stability constraint and the damping ratio expression were jointly considered, and the analytical formulations of the sensitivity parameters in terms of the damping ratio and string stability were derived. A framework for determining the sensitivity parameters was established, which integrates damping characteristics, string stability, and convergence rapidity. Finally, based on the damping oscillation characteristics of the vehicle platoon system, an adaptive variable-damping oscillation suppression strategy was designed, by which the system damping ratio was adjusted in real time according to the intensity of external disturbances. The results of this study indicate that: string stability and damping characteristics couple with each other, and string instability exacerbates the oscillation behavior of the vehicle platoon system. Under string-stable and overdamped conditions, a system with a damping ratio close to critical damping can adjust its state quickly without causing overshoot, thereby achieving a favorable balance between oscillation suppression and rapid convergence. Disturbances with frequencies close to the natural frequency induce the largest amplitude oscillations, and adjusting system parameters to modify the damping ratio based on disturbance intensity can effectively suppress oscillations. These results reveal the coupling mechanism between damping characteristics and string stability of vehicle platoons under the MPF topology. By reasonably designing model parameters to make the system close to critical damping while ensuring string stability, a balance between oscillation suppression and rapid response can be achieved. 2 tabs, 13 figs, 30 refs.更多还原