| 夏勇生,吴东升,平兰兰.基于 MPC 的爆胎车辆轨迹控制研究[J].电子测量与仪器学报,2021,35(6):154-160 |
| 基于 MPC 的爆胎车辆轨迹控制研究 |
| Research on trajectory control of tire burst vehicle based on MPC |
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| DOI： |
| 中文关键词: 爆胎车辆 模型预测控制 联合仿真 轨迹修正 |
| 英文关键词:flat tire vehicle model predictive control joint simulation trajectory correction |
| 基金项目: |
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| 中文摘要: |
| 针对爆胎车辆偏航问题,提出基于模型预测控制(model predictive control,MPC)的前轮转向控制器来对汽车偏航进行矫
正,保证车辆在安全路径上行驶。 基于 MPC,选取简化的双轨道车辆模型,用微分方程描述车辆运动状态,线性离散化,推导预
测方程,考虑车辆稳定性因素,将其添加为约束条件,转化为标准二次型计算最优解,构造闭环系统进行仿真,结果表明,基于
MPC 设计的前轮主动转向控制系统在直线行驶和双移线行驶两种驾驶工况下能让车辆保持稳定行驶,有效的控制爆胎车辆行
驶轨迹,质心侧偏角、轮胎侧偏角和横摆角速度均在稳定性要求之内,保证车辆在安全路径范围内行驶,达到爆胎车辆轨迹控制
效果。 |
| 英文摘要: |
| Aiming at the yaw problem of the flat tire vehicle, the model predictive control (MPC) based front wheel steering controller is
proposed to correct the vehicle yaw and ensure the vehicle to run on the safe path. Based on the model predictive control, the simplified
double track vehicle model is selected, and the vehicle motion state is described by differential equation. The prediction equation is
derived by linear discretization. Considering the vehicle stability factor, it is added as a constraint condition and transformed into the
standard quadratic form to calculate the optimal solution. The closed-loop system is constructed for simulation. The results show that the
MPC based design has good performance: The front wheel active steering controller can keep the vehicle running stably under two driving
conditions of straight driving and double shifting driving, and effectively control the running track of the flat tire vehicle. The center of
mass side slip angle, tire side slip angle and yaw angle speed are all within the stability requirements, so as to ensure the vehicle to drive
in the safe path and achieve the trajectory control effect of the tire burst vehicle. |
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