基于预测控制的车辆稳定性研究

摘要

An automotive ESP predication controller is designed which uses 2 DOF vehicle model as internal predication model, and compensating vehicle yaw moment as output, and steering step input and simulation analysis has been made to steering step input and sine input of the designed predicative controller with the 7 DOF vehicle model built with Matlab/Simulink. The results show that this predicative controller can control vehicle's yaw angular velocity and limit centroid slip angle, improve stability of vehicle in high -speed steering, thus verifies rationality of the model and effectiveness of control algorithm.%设计了以2自由度车辆模型为预测内部模型、以补偿车辆横摆力矩为输出的汽车ESP预测控制器,并结合Matlab/Simulink建立的7自由度整车模型对所设计预测控制器进行了转向阶跃输入和正弦输入的仿真分析.结果表明,该预测控制器能很好控制汽车的横摆角速度和限制质心侧偏角,提高了汽车在高速转向工况下的稳定性,进而验证了所建模型的合理性和控制算法的有效性.