基于非线性MPC的电动赛车驱动防滑控制

Acceleration slip regulation of electric racing carsbased on nonlinear MPC

文章采用非线性模型预测控制(model predictive control,MPC)方法实现轮边驱动电动赛车的驱动防滑控制。为了实现电动赛车良好的纵向加速和轮胎抓地性能,将车轮滑移稳定区作为非线性模型预测时域约束,建立轮边电机滑移率控制模型;结合赛车空气动力学套件和轮胎特性,在MATLAB/Simulink软件中建立驱动防滑模型成本函数来平衡目标滑移率、目标扭矩变化率和最大扭矩限制等多个目标;通过CarSim和MATLAB/Simulink的联合仿真并结合半实物在环台架试验验证模型的有效性和可靠性。联合仿真和试验验证结果表明,该文方法可以有效地提升赛车的纵向性能。

In this paper,the acceleration slip regulation(ASR)of wheel-driven electric racing cars is implemented using a nonlinear model predictive control(MPC)strategy.In order to achieve optimal longitudinal acceleration and tire grip performance for electric racing cars,the wheel slip stability region is utilized as a temporal constraint within the nonlinear model predictive control framework,and a wheel-side motor slip ratio control model is established.By integrating a racing aerodynamics package and tire characteristics,a cost function for the ASR model is developed in MATLAB/Simulink software to balance multiple objectives,including target slip ratio,target torque rate of change,and maximum torque limitation.Through combined simulations using CarSim and MATLAB/Simulink,as well as semi-physical experiments on a test bench,the effectiveness and reliability of the model are verified.The results of the combined simulations and experimental validations illustrate that the proposed approach effectively enhances the longitudinal performance of the racing cars.