汽车工程 ›› 2023, Vol. 45 ›› Issue (5): 719-734.doi: 10.19562/j.chinasae.qcgc.2023.05.002
所属专题: 智能网联汽车技术专题-控制2023年
收稿日期:
2022-11-07
修回日期:
2022-12-05
出版日期:
2023-05-25
发布日期:
2023-05-26
通讯作者:
马建
E-mail:majian@chd.edu.cn
基金资助:
Yilin He1,Jian Ma1(),Shukai Yang2,Wei Zheng1,Qifan Xue1
Received:
2022-11-07
Revised:
2022-12-05
Online:
2023-05-25
Published:
2023-05-26
Contact:
Jian Ma
E-mail:majian@chd.edu.cn
摘要:
提出了一种融合预瞄特性的智能电动汽车稳定性前馈+反馈控制方法。建立车辆预瞄模型,通过汽车在环境感知时的前视行为,引入道路曲率作为车辆动力学特性的影响因素。基于在前视信息指导下的车辆位姿变化,根据道路附着能力和车速指数模型描述期望纵向车速,建立轮胎侧偏刚度补偿的稳定性前馈控制方法。同时,采用模型预测控制(MPC)设计稳定性反馈控制律,根据车辆的预瞄信息自适应调整预测模型参数和预测时间,消除前馈控制误差及路面扰动等不确定性因素带来的影响。研究结果表明,本文提出的控制策略下汽车质心侧偏角、横摆角速度和侧向加速度小,且跟踪精度更高。仿真试验中,相比于无控制、MPC反馈控制与前馈+定参数MPC反馈控制,本文提出的控制策略在双移线工况1下质心侧偏角峰值分别减小了41.3%、28.9%和10.0%,横摆角速度峰值分别减小了18.0%、6.7%和2.0%,双移线工况2下质心侧偏角峰值分别减小了27.2%、8.7%和8.0%,横摆角速度峰值分别减小了16.9%、12.9%和8.6%;相比于MPC反馈控制与前馈+定参数MPC反馈控制,在蛇行工况1下,质心侧偏角峰值分别减小了49.8%与34.8%,横摆角速度峰值分别减小了21.8%与12.7%;在蛇行工况2下,质心侧偏角峰值分别减小了36.6%和18.6%,横摆角速度峰值分别减小了17.7%和12.4%。
贺伊琳,马建,杨舒凯,郑威,薛启帆. 融合预瞄特性的智能电动汽车稳定性模型预测控制研究[J]. 汽车工程, 2023, 45(5): 719-734.
Yilin He,Jian Ma,Shukai Yang,Wei Zheng,Qifan Xue. Research on Stability Model Predictive Control of Intelligent Electric Vehicle with Preview Characteristics[J]. Automotive Engineering, 2023, 45(5): 719-734.
表 2
双移线工况下不同控制策略稳定性仿真结果对比"
状态参数 | 项目 | 双移线工况:u=90 km/h,μ=0.6 | 双移线工况:u=120 km/h,μ=0.85 | ||||||
---|---|---|---|---|---|---|---|---|---|
无控制 | 反馈 控制 | 前馈+定参数MPC | 前馈+自适应参数MPC | 无控制 | 反馈 控制 | 前馈+定参数MPC | 前馈+自适应参数MPC | ||
质心侧偏角 | 峰值 | 0.92° | 0.76° | 0.60° | 0.54° | 1.73° | 1.38° | 1.37° | 1.26° |
降低百分比 | 41.3% | 28.9% | 10.0% | 27.2% | 8.7% | 8.0% | |||
横摆角速度 | 峰值 | -11.75°/s | -10.33°/s | -9.84(°)/s | -9.64(°)/s | -12.94(°)/s | -12.34(°)/s | -11.76(°)/s | -10.75(°)/s |
降低百分比 | 18.0% | 6.7% | 2.0% | 16.9% | 12.9% | 8.6% | |||
侧向加速度 | 峰值 | -0.45g | -0.43g | -0.39g | -0.35g | -0.69g | -0.68g | -0.66g | -0.58g |
降低百分比 | 22.2% | 18.6% | 10.3% | 15.9% | 14.7% | 12.1% |
表 3
蛇行工况下不同控制策略的稳定性仿真结果对比"
状态参数 | 项目 | 蛇行工况:90 km/h,μ=0.6 | 蛇行工况:120 km/h,μ=0.85 | ||||
---|---|---|---|---|---|---|---|
反馈控制 | 前馈+定参数MPC | 前馈+自适应 参数MPC | 反馈控制 | 前馈+定参数MPC | 前馈+自适应 参数MPC | ||
质心侧偏角 | 峰值 | -4.57° | -3.51° | -2.29° | -4.13° | -3.22° | -2.62° |
降低百分比 | 49.8% | 34.8% | 36.6% | 18.6% | |||
横摆角速度 | 峰值 | 23.66(°)/s | 21.19(°)/s | 18.50(°)/s | -20.95(°)/s | -19.69(°)/s | -17.24(°)/s |
降低百分比 | 21.8% | 12.7% | 17.7% | 12.4% | |||
侧向加速度 | 峰值 | 0.58g | 0.55g | 0.53g | -0.70g | -0.69g | -0.65g |
降低百分比 | 8.6% | 3.6% | 7.1% | 5.8% |
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