| 四轮独立转向电动汽车路径跟踪预测控制 |
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| 引用本文： | 周苏,吴楠,支雪磊. 四轮独立转向电动汽车路径跟踪预测控制[J]. 同济大学学报(自然科学版), 2019, 47(6): 0842-0850 |
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| 作者姓名： | 周苏 吴楠 支雪磊 |
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| 作者单位： | 同济大学 汽车学院,上海 201804；同济大学 中德学院,上海 201804,同济大学 汽车学院,上海 201804,同济大学 汽车学院,上海 201804 |
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| 基金项目： | 奥地利Austrian Research Promotion Agency (FFG)基金”RoboCar”项目(No. 861000)；AVL博士后/博士奖学金 |
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| 摘 要： | 对于四轮独立转向(4WIS)电动汽车采取前后轮同时转向的策略,建立4WIS电动汽车动力学模型,得到相关的状态空间表达式,推导出线性时变路径跟踪预测模型.基于模型预测控制理论,结合约束条件和优化目标函数,将控制算法转化为标准二次规划问题,设计了4WIS路径跟踪控制器;然后利用Matlab/Carsim联合仿真平台,进行双移线工况下的仿真试验,最后验证控制算法对速度和路况的鲁棒性,分析了控制器参数对算法实时性的影响.
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| 关 键 词： | 四轮独立转向 模型预测控制 动力学模型 线性时变模型 路径跟踪控制 |
| 收稿时间： | 2018-12-20 |
| 修稿时间： | 2019-04-28 |
Path Tracking Predictive Control of Four-wheel Independent Steering Electric Vehicle |
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| ZHOU Su,WU Nan and ZHI Xuelei. Path Tracking Predictive Control of Four-wheel Independent Steering Electric Vehicle[J]. Journal of Tongji University(Natural Science), 2019, 47(6): 0842-0850 |
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| Authors: | ZHOU Su WU Nan ZHI Xuelei |
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| Affiliation: | School of Automotive Studies, Tongji University, Shanghai 201804, China; Chinesisch Deutsches Hochschulkolleg, Tongji University, Shanghai 201804, China,School of Automotive Studies, Tongji University, Shanghai 201804, China and School of Automotive Studies, Tongji University, Shanghai 201804, China |
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| Abstract: | Four-wheel independent steering (4WIS) electric vehicle adopts the strategy of simultaneous steering of front and rear wheels; in this paper the dynamic model of the 4WIS electric vehicle is established, and the relevant state space expression is obtained, then the linear time-varying path tracking prediction model is derived. Control algorithm is transformed into standard quadratic programming problem based on model predictive control theory, combined with constraint conditions and optimization objective function. The 4WIS path tracking controller is designed. Then the Matlab/Carsim joint simulation platform is used to carry out the simulation test under double shift line conditions. Finally, the robustness of the control algorithm to speed and road conditions is verified, and the influence of controller parameters on the real time performance of the algorithm is analyzed. |
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| Keywords: | four-wheel independent steering model predictive control dynamic model linear time-varying model path tracking control |
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