显式非线性车辆稳定性预测控制模型保真度分析

Fidelity Analysis of Explicit Nonlinear Predictive Control Model for Vehicle Stability

为了同时兼顾车辆运动控制与控制分配,并且考虑模型可信度的影响,提出了一种显式非线性车辆稳定性预测控制模型保真度分析方法。利用多参数非线性规划问题的多参数二次规划逼近算法生成显式解,基于最优控制问题,结合运动控制和控制分配方面,提出了一种显式非线性模型预测控制车辆稳定性控制方法。进一步通过驻留试验中的客观指标对不同预测模型的控制器进行评估。最后通过仿真实验可以得到模型保真度对显式非线性模型预测车辆稳定性控制器性能的影响。

In order to take into account both vehicle motion control and control allocation,and the influence of model credibility,a fidelity analysis method of explicit nonlinear predictive control model for vehicle stability was put forward.Based on the optimal control problem,combined with motion control and control allocation,an explicit NMPC vehicle stability control method was introduced.Furthermore,the objective indexes of dwell test were used to evaluate the controllers of different prediction models.Finally,the influence of model fidelity on the performance of explicit nonlinear model predictive vehicle stability controller can be obtained through simulation experiments.