基于可拓相平面稳定域划分的Tube-MPC车辆稳定性控制

Tube-MPC Vehicle Stability Control Based on Stability Domain Division in Extension Phase Plane

针对分布式四轮驱动电动车辆在极限工况下稳定性控制难题,考虑了横摆角速度、横纵向加速度等传感器噪声以及质心侧偏角估计误差的影响,提出了基于可拓理论的相平面稳定域划分方法以及自适应管道模型预测控制(ATMPC)算法,以快速量化车辆稳定性程度,并在满足跟踪精度的前提下保证车辆行驶的稳定性。所设计的车辆横摆稳定性控制系统采用分层设计架构,其中上层基于可拓理论,将车辆质心侧偏角-橫摆角速度相平面与可拓控制域相关联,并根据车辆实际状态判断可拓控制域并计算关联函数,实现了下层的管道模型预测控制(TubeMPC)控制目标权重与控制模式的决策;下层基于Tube-MPC对期望横摆角速度和质心侧偏角进行跟踪,实现附加横摆力矩的精准决策,之后采用轮胎负荷率优化方法进行横摆力矩的分配。通过CarSim与Simulink软件联合仿真,对所设计的控制策略进行仿真验证。结果表明,相较于常规MPC算法,所提出的控制架构与ATMPC控制策略能够有效提升车辆在极限工况下的行驶稳定性以及噪声干扰环境下的鲁棒性。

For the stability control problem of distributed four-wheel-drive electric vehicles under extreme conditions,considering the influence of sensor noise of yaw rate,lateral and longitudinal acceleration,as well as the estimation error of slip angle,a phase plane stability domain division method based on extension theory and an adaptive Tube-based Model Predictive Control algorithm(ATMPC)are proposed to quickly quantify the stability level of the vehicle and ensure the vehicle driving stability while maintaining tracking accuracy.The designed vehicle yaw stability control system utilizes hierarchical design architecture.The upper layer employs the extension theory to associate the vehicle slip angle-yaw rate phase plane with extension control domain and determines the control domain based on the actual vehicle state and calculates the dependent function to realize the decision-making of the control target weights and modes of the lower layer's Tube-MPC.The lower layer utilizes Tube-MPC to track the desired vehicle slip angle and yaw rate,enabling precise decision-making regarding the yaw moment,and adopts the tire loading ratios optimization method for the allocation of the yaw moment.The control strategy is validated by Carsim/Simulink co-simulation.The results show that the proposed control framework and ATMPC strategy can significantly enhance the driving stability of vehicles in extreme conditions and improve robustness in noisy environments,outperforming traditional MPC.