基于Tube MPC的多轴重型车辆全轮转向路径跟踪策略

doi:10.19562/j.chinasae.qcgc.2022.11.005

Abstract

Abstract:

An all-wheel steering path tracking strategy based on model predictive control with robust invariant set is proposed for a five-axle heavy-duty vehicle in this paper. Firstly， an all-wheel steering path tracking strategy based on first-axle and fifth-axle steering angle control is put forward to make the multi-axle vehicle more flexible in control， with the lateral force response synchronized and fully utilized. Then with considerations of the uncertainty of tire parameters and the bounded disturbance caused by side-wind in the control model， the Tube MPC is used to solve the path tracking problem. Meanwhile， a simplified minimum robust positively invariant set （mRPI） based on support function calculation is adopted to replace the general Minkowski sum-based mRPI operation， effectively saving the offline computation time of mRPI， reducing the number of vertices in the invariant set， and ensuring the online implementation of Tube MPC. Finally， a hardware-in-the-loop simulation is carried out with a result verifying that the Tube MPC-based all-wheel steering strategy proposed has higher path tracking accuracy and vehicle stability and stronger robustness when facing unknown disturbance， compared with ordinary all-wheel steering strategy.

Key words: five-axle heavy-duty vehicle, Tube MPC, all-wheel steering, path tracking, minimum robust positively invariant set

Weichen Wang,Junqiu Li,Fengchun Sun,Jian Song,Yonghua Wu. Path Tracking Strategy for All-Wheel Steering of Multi-axle Heavy-Duty Vehicles Based on Tube MPC[J].Automotive Engineering, 2022, 44(11): 1665-1675.

Figures/Tables 21

算法：最小鲁棒正不变集的高效求解
1.先确定参数 $ε$ ，并求解满足式（29）的数组 $k *, ε$ 。
2.基于式（34），通过线性规划（LPs）求得集合 $C$ 。
3.基于式（38），通过 $k$ 次迭代求解集合 $P ∞$ ，即 $S m i n$ 。

参数	数值
整车质量m/kg	45 000
轮距B/m	2.6
整车转动惯量/（ $k g ? m 2$ ）	430 000
各轴到质心距离 $L 1 ~ L 5$ /m	6.9/4.5/0/-2.4/-4.8
轮胎侧偏刚度 $C f$ / $C r$ /（N·rad^-1）	374 000/580 000
预测步长N	10
采样时间T/s	0.1
权重系数 Q	diag（80，0，350， 550）
权重系数 R	diag（800， 800）

References 17

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Path Tracking Strategy for All-Wheel Steering of Multi-axle Heavy-Duty Vehicles Based on Tube MPC

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