基于非线性MPC方法的车辆稳定性控制

Vehicle Stability Control Based on Nonlinear MPC Method

针对非线性模型预测控制(NMPC)在车辆操纵控制过程中的实时性问题,提出了显式NMPC的解决方法,然后在显式NMPC中将优化问题进行离线求解,并通过在线评估得到满足要求的次优解。最后基于显式NMPC方法设计了一种车辆横摆和侧向稳定控制器,该控制器通过车辆的制动系统发挥作用。为验证控制器的有效性,进行了相关的仿真试验,分析了代价函数公式中权值的影响,并对最优控制问题的不同设置方案进行了比较分析。

To solve the real-time problem of nonlinear model predictive control(NMPC)in vehicle control,an explicit NMPC solution was proposed first,and then the optimization problem was solved offline in the explicit NMPC,and the required sub-optimal solution was obtained through online evaluation.Finally,based on the explicit NMPC method,a vehicle yaw and lateral stability controller is designed in this paper.In order to verify the effectiveness of the controller,relevant simulation tests were carried out,the influence of weight in the formula of cost function was analyzed,and different settings of the optimal control problems were compared and analyzed.