车辆横摆角速度的广义预测控制的研究.pdfVIP

Proceedings of the 26th Chinese Control Conference July 26-31, 2007, Zhangji aj ie, Hunan, China 辆横摆角速度的广义预测控制研究* 吴义虎，宋丹丹，侯志祥，袁翔 沙理工大学汽车与机械工程学院，湖南 长沙 410076 E-mail: w2309@163.com 要：本文将广义预测控制算法引入车辆横向稳定性控制中，通过将车辆非线性模型线性化，建立了横摆角速度的 预测模型和参考模型，根据车辆速度和转向盘转角信息来预测车辆未来时刻横摆角速度的输出，并与参考模型横摆角 速度比较，根据横摆角速度预测输出与参考模型输出的差值来确定施加的抵抗横摆运动的横摆力矩的大小。基于GPC 的参数模型预测控制用于车辆转向横向性控制系统，在模型已知的情况下，能较精确预测横摆角速度的未来输出，并 在车辆失稳前施加控制，因此适合车辆横向稳定性控制系统。仿真结果表明，GPC 算法能很好地跟踪给定的横摆角 速度参考模型，与PID 控制方法相比，在车辆转向行驶工况，车辆横摆角速度变化曲线无明显的振荡，并 横摆角速 度的超调量也有较大降低。 关键词：广义预测控制，稳定性，车辆 A Research on Generalized Predictive Control for Vehicle Yaw * Rate Wu YiHu, Song DanDan, Hou ZhiXiang, YuanXiang School of Automobile and Mechanical Engineering, Changsha University of Science Technology, Changsha, 4 10076, P. R. China E-mail: w2309@163.com Abstract: A yaw stability controller based on generalized predictive control is presented in this paper. The predictive and the desired model of yaw rate are established based on a linearized vehicle model, the future output of yaw rate of the vehicle ac- cording to the information of vehicle speed and the steering wheel angle is predicted. Compared with a desired value, a con- trolling yaw moment is calculated based on the difference between the desired and the actual yaw rate. The predictive control of parameter model applied to the yaw stability control system based on GPC, in the known model situation, can predict the future output of yaw rate of the vehicle precisely and take control action before the yaw instability of vehicle occurs, so this method suits the yaw stability control system of vehicle. The simulation result indicat