车辆起步MPC控制器设计及FPGA实现

MPC Controller Design and FPGA Implementation for Start-up of Vehicles

针对车辆起步过程快速平稳、冲击小,乘坐舒适性的要求,基于先进的模型预测控制(Model Predictive Control,MPC)方法设计了车辆起步控制器,采用有效集方法进行MPC优化问题的求解。同时为了提高MPC的在线求解速度,提出了基于现场可编程门阵列(Field Programmable Gate Array,FPGA)和片上可编程系统(System on a Programmable Chip,SOPC)技术的MPC控制器硬件实现方案。最终在基于FPGA与d SPACE实验平台上完成了实时仿真实验,实现了基于FPGA的车辆起步控制,实验结果表明基于FPGA设计实现的MPC控制器能很好地满足车辆起步控制需求。

In order to meet the performance for the start-up of the vehicle, such as rapidity, smoothness, small shock and riding comfort, this paper designs the controller for the start-up of vehicles based on the advanced model predictive control method, and adopts the active set method to solve the optimization problem of MPC. In addition, in order to improve the online solving speed of MPC, this paper proposes a hardware implementation scheme for the MPC controller based on the technology of FPGA and SOPC. Finally real-time simulation experiments are performed on the test platform based on FPGA and dSPACE, and the results show that the designed model predictive controller based on FPGA can meet the control demand for the start-up of vehicles.