基于混杂模型预测控制的分布式驱动电动汽车AFS/DYC集成控制

doi:10.19562/j.chinasae.qcgc.2025.03.009

Abstract

Abstract:

To improve the handling stability of distributed drive electric vehicles （EVs） at high speeds on different road surfaces， in this paper an integrated control strategy for AFS/DYC based on hybrid model predictive control is proposed. Firstly， a piece affine tire model is constructed based on system identification methods. In conjunction with the vehicle dynamics model and the conversion relationship between propositional logic and linear inequalities， the vehicle system’s mixed logical dynamic model is constructed. Then， an integrated control strategy for AFS/DYC based on hybrid model predictive control is designed. The strategy uses mixed integer quadratic programming to track target reference values for decision-making on additional yaw moment and additional steering angle， and constructs an optimized wheel driving torque distribution control strategy with the goal of minimizing tire load rate. Finally， a driver-in-loop handling stability test experiment is conducted on the CarSim-Simulink co-simulation platform. The test results show that compared to the traditional model predictive control， the designed hybrid model predictive control strategy reduces the root mean square error of yaw rate and side slip angle by 31.61% and 19.51% respectively under high-speed double lane change conditions and the peak average torque amplitude of the four wheels is reduced by 24.27%.

Key words: distributed drive electric vehicles, handling stability, integrated control, piecewise affine model, hybrid system

Zichen Zheng,Shu Wang,Xuan Zhao,Zhaoke Li. Integrated Control of Distributed Drive Electric Vehicle AFS/DYC Based on Hybrid Model Predictive Control[J].Automotive Engineering, 2025, 47(3): 470-480.

Figures/Tables 16

References 28

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类别	数值
垂直载荷/N	1 348~10 787， samples = 30
轮胎侧偏角/（°）	-10.7~10.7， samples = 40
路面附着系数	0.3（低）， 0.85（高）
最大允许力/N	100 000

参数	MPC	HMPC
预测时域 P	10	10
控制时域 U	3	3
控制器步长 /s	0.001	0.001
权重系数 Q	diag（100，45）	diag（100，45）
权重系数 R	diag（15，0.38）	diag（15，0.38）
采样时间 /s	0.002	0.002
控制周期 /s	0.022	0.020

控制策略	横摆角速度/（（°）·s^-1）	质心侧偏角/（°）
无控制	8.44	1.37
MPC	1.36	0.41
HMPC	0.93	0.33

控制策略	横摆角速度/（（°）·s^-1）	质心侧偏角/（°）	横向位移/m
无控制	11.61	2.84	4.51
MPC	8.74	1.05	3.95
HMPC	7.91	0.75	3.82

控制策略	横摆角速度/（（°）·s^-1）	质心侧偏角/（°）
无控制	3.76	1.02
MPC	0.69	0.37
HMPC	0.51	0.28

Integrated Control of Distributed Drive Electric Vehicle AFS/DYC Based on Hybrid Model Predictive Control

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