An MPC-based manoeuvre stability controller for full drive-by-wire vehicles
Ping WANG1
Ziyang LIU2
Qifang LIU2
Hong CHEN1
1.The State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun Jilin 130025, China;Department of Control Science and Engineering, School of Communication Engineering, Jilin University, Changchun Jilin 130025, China2.Department of Control Science and Engineering, School of Communication Engineering, Jilin University, Changchun Jilin 130025, China
摘要：Aiming at the actuator time delay caused by the drive-by-wire technology,a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles.Firstly,the future vehicle dynamics are predicted by a twodegree-of-freedom vehicle model with input delay.Secondly,in order to prevent the vehicle from destabilizing due to excessive side slip angles,the determined ideal yaw rate and side slip angle are tracked simultaneously by optimizing the front wheel angle and additional yaw moment.Moreover,in order to improve the trajectory tracking ability,a side slip angle constraint determined by phase plane stability boundaries is added to the cost function.The results of Matlab and veDYNA co-simulation show that the regulated yaw rate can track the reference value well and the side slip angle decreases.Meanwhile,the trajectory tracking ability is improved obviously by compensating the time delay.
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论文发表日期：2019-11-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：10( 357-366 )
英文信息