基于LTV-MPC的车辆稳定性控制研究

A Study on Vehicle Stability Control Based on LTV-MPC

针对含有附着力约束和液压执行机构约束的车辆稳定性控制问题,本文中提出了一种基于非线性车辆模型的线性时变模型预测控制(LTV-MPC)方法。该方法对非线性车辆模型进行局部线性化,结合实时参数估计得到的纵向制动力输入限制,将该问题转化为二次规划问题,并得到优化解,从而解决有约束条件下的主动制动压力分配问题。另外,文中还讨论了MPC控制器中控制目标的选取问题,分析了控制参数选取对于控制效果和运算效率的影响。通过稳态和瞬态仿真验证了控制器的可行性和有效性。

In view of the problem of the stability control of vehicle with the constraints of adhesive force and hydraulic actuators,a linear time-varying model predictive control（ LTV-MPC） method based on nonlinear vehicle model is proposed in this paper. In the method,the nonlinear vehicle model is locally linearized,and with the braking force input limit obtained by realtime parameter estimation,the MPC problem is transformed into a quadralic programming problem to get the optimal solutions,with the issue of active braking pressure distribution with constraints resolved. In addition,the selection of control objective in MPC controller is discussed,and the effects of control parameter selection on control results and operation efficiency are analyzed. The results of both steady and trasient simulations verify the feasibility and effectiveness of MPC controller.