摘要
汽车在紧急避障操纵时容易丧失稳定性,通过四轮差动制动的方式对汽车施加附加横摆力矩可以实现汽车的横摆稳定性控制。由于汽车动力学模型的非线性以及参数和环境的不确定性,使用最优控制方法决策的附加横摆力矩在实际中往往无法保持最优。由此提出广义预测控制(GPC)方法决策附加横摆力矩。建立了七自由度非线性车辆模型作为预测模型,并通过实车试验对其精度进行了验证。通过Simulink/Carsim环境中的虚拟试验对GPC方法的控制效果进行了验证,结果表明GPC方法比LQR方法能更有效地提高汽车的主动安全性。
The vehicle easily loses yaw stability in the emergency obstacle avoidance manoeuvre,and the vehicle yaw stability control can be accomplished by applying the vehicle additional yaw moment by means of four wheels differential braking.As the vehicle dynamic model is nonlinear and its parameters and environment is uncertainty,the vehicle additional yaw moment decided by the optimal control is always unable to maintain optimal in reality.The generalized predictive control（GPC） method was proposed for deciding the vehicle additional yaw moment.The nonlinear 7-DOF vehicle model was built as the predictive model,and its accuracy was verified by vehicle tests.The control performances of GPC method were verified by virtual tests in the Simulink/Carsim,test results showed that the GPC method was more effective than the LQR method in improving the vehicle active safety.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2012年第1期1-5,36,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家高技术研究发展计划(863计划)资助项目(2006AA110103)
国家重点基础研究发展计划(973计划)资助项目(2011CB711205)
关键词
汽车
主动安全
横摆稳定性控制
广义预测控制
Vehicle
Active safety
Yaw stability control
Generalized predictive control
