基于MPC的电动汽车轨迹跟踪控制

MPC-based electric vehicle trajectory tracking control

研究了一种基于模型预测控制的无人电动汽车轨迹跟踪控制策略。通过将动力系统模型、转向系统模型同电动汽车运动学模型进行结合,设计了一种电动汽车的模型预测控制器。以汽车运行轨迹和车身偏角为优化目标,以车辆动力与方向两个控制输入信号为优化变量,结合车辆本身机械结构以及动力学系统的约束条件,确定了轨迹跟踪的优化过程,以实现对无人驾驶车辆的轨迹跟踪控制。最后,利用CarSim/Simulink联合仿真平台构建进行了轨迹跟踪控制仿真系统。仿真结果表明了所提设计控制系统的有效性。

A trajectory tracking control strategy for unmanned electric vehicles based on model predictive control is studied.Through combining the dynamic system model and the steering system model with the electric vehicle kinematics model,it describes a model predictive controller for electric vehicles.The vehicle trajectory and the vehicle yaw angle are taken as the optimization targets,and the two control input signals of the vehicle power and direction are taken as the optimization variables.After analyzing the mechanical structure of the vehicle and the constraints of the dynamic system,the optimization process of the trajectory tracking is determined to achieve the trajectory tracking control of unmanned vehicles.Finally,the trajectory tracking control simulation system is constructed on the CarSim/Simulink joint simulation platform.The simulation results show the effectiveness of the design of control system.