Simulation Analysis of Trajectory Control of Tire Bursting Vehicles Based on MPC

摘要

In view of the yaw problem of a flat tire vehicle, a front wheel steering controller based on MPC is proposed to correct the vehicle's yaw and ensure that the vehicle runs on the safe path. Based on the model predictive control, the simplified double track vehicle model is selected, and the vehicle motion state is described by differential equation. The prediction equation is derived by linear discretization. Considering the vehicle stability factor, it is added as a constraint condition and transformed into the standard quadratic form to calculate the optimal solution. The closed-loop system is constructed for simulation. The results show that: the front wheel active steering controller based on MPC can keep the vehicle running stably and effectively control the running track of the flat tire vehicle. The sideslip angle of the center of mass, the sideslip angle of the tire and the yaw rate are all within the stability requirements, so that the vehicle can drive in the safe path and achieve the trajectory control effect of the tire burst vehicle.