基于变预测时域的电动汽车轨迹跟踪控制

针对在不同车速下由于车辆动力学参数改变导致轨迹跟踪的误差变大的问题,研究电动汽车自适应性轨迹跟踪控制器设计.首先,基于模型预测控制(model predictive control,MPC)设计轨迹跟踪控制器,对比分析不同车速下不同预测时域对轨迹跟踪的影响;其次,通过仿真结果,发现不同车速下采用恒定预测时域,轨迹跟踪在不同速度下自适应性变差,易产生较大的跟踪误差;最后,设计了基于车速变化的变预测时域轨迹跟踪控制器.CarSim/MATLAB/Simulink联合仿真结果表明,改进后的轨迹跟踪控制器在不同车速下轨迹跟踪具有良好的控制精度和稳定性.

Research on Trajectory Tracking based on the Varied Prediction Domain

Due to the change of vehicle dynamics parameters and vehicle speed, the property of trajectory tracking controller becomes worse and the error of trajectory tracking becomes larger. This paper studies the trajectory tracking based on the varied prediction domain. Firstly, trajectory tracking controller is designed based on model predictive control (MPC). Then the influence of different prediction time domain on trajectory tracking is compared and analyzed at different speed. The simulation results show that the trajectory tracking become worse when the time domain of constant prediction is adopted at different speeds. Aiming at the above shortcomings, a varied prediction domain trajectory tracking controller based on varied vehicle speed is designed. Then the CarSim/Matlab/Simulink joint simulation is performed and the results show that the improved trajectory tracking controller have good control accuracy and stability at different speed.