基于模型预测控制的半挂汽车主动防侧倾控制方法

Active anti-roll control method for a semi-trailer based on MPC theory

提出了一种半挂汽车主动防侧倾控制方法。搭建了一个七自由度动力学模型和一个三自由度参考模型;用无迹Kalman滤波的方法,来估计车辆的横向载荷转移率;确定优化目标,运用模型预测控制(MPC)理论进行最优化求解,得到各车轴的主动防侧倾力矩;在Simulink/Trucksim联合仿真环境中,进行仿真对比与分析。结果表明:在本文的MPC控制器和PID控制器作用下,半挂汽车各状态量皆收敛,且横向载荷转移率保持在0.7以内;相比于PID控制,MPC控制所需的防侧倾力矩更小更均衡,各状态量变化也更加平稳。因此,本MPC控制器在提升半挂汽车侧倾稳定性的同时具有较好的鲁棒性。

An active anti-roll control method was proposed for a roll stability of a semi-trailer.A seven-degree of freedom(7-DOF)vehicle dynamic model and a three-degree of freedom reference model were established.An Unscented Kalman Filter(UKF)was adopted to estimate the lateral load transfer rate(LTR).A model predictive control(MPC)theory was used to solve optimal solution of an active anti-roll torque for each axle.Comparative analysis under typical condition was performed in a Simulink/Trucksim co-simulation environment.The results show that the state quantities of the semi-trailer are converged and the lateral load transfer rate is kept within 0.7 with both MPC controller and PID controller.The anti-rolling torque required for the MPC control is smaller and more uniform than those for the PID controller,and the state variables change more stably.Therefore,the MPC controller has a better robustness while improving a roll stability of a semi-trailer.