三轴车辆全轮转向模型预测控制研究

The Study of Model Predictive Control for All-Wheel Steering Three-Axle Vehicle

针对由于控制参数和外界环境不确定而导致的线性全轮转向控制器控制精度不高的问题,研究了对模型精度要求低、能处理多约束问题和鲁棒性较好的全轮转向模型预测控制算法。构建车辆数学模型、UA轮胎模型,设计全轮转向模型预测控制器,并选取典型工况,对比分析了基于模型预测控制的全轮转向车辆、线性控制全轮转向车辆和原双前桥转向车辆的响应特性。结果表明:模型预测控制算法对车轮刚度摄动和外界侧风干扰具有较好的鲁棒性,车辆控制效果较好。

Uncertainty of control parameters and external environment caused low accuracy of linear all wheel steering controller, to solve this problem, we studied the model predictive control algorithm which has low precision requirement for control model and the ability to handle multiple constraints and high robust. A model predictive controller was designed with vehicle mathematic model and the UA tire model constructed, typical load conditions were selected to compare thedynamie characteristics among the modelpredictive control-based all wheel steering vehicle, linear control all wheel steering vehicle and the original double front axle steering vehicle. The results indicated that the model predictive control algorithm has good robustness for wheel stiffness perturbation and wind disturbance and thevehiclehas good control performance.