基于分布式预测控制的轮毂电机电动汽车横摆稳定控制

摘要

A yaw stability control method for four independently in-wheel-motored electric vehicles based on distributed model predictive control (DMPC) is presented.The yaw model of the electric vehicle including vehicle body,wheel and motor dynamics is a high-order system with hard constraints of states and controls.For reducing time of online optimization,the high-order yaw model was divided into several loworder subsystems to design distributed controllers.A cooperative distributed model predictive control scheme for tracking changing reference by using a parameterized method of stable states and controls is established.Finally,the DMPC tracking scheme was applied on a professional vehicle dynamics tool (veDYNA) to show that the controllers can obtain desired tracking result effectivity.%采用基于协作的分布式预测控制策略,研究带有轮毂电机的四轮驱动电动汽车的横摆稳定控制问题.车辆对象是带有约束的高阶非线性系统,控制难度大.因此,首先在合理的假设条件下,针对轮毂电机电动车辆横摆稳定控制问题建立包含车身、车轮和电机动态并带有状态和控制约束的面向控制的高阶线性模型.然后,为了降低计算代价,将高阶线性模型分解为五个低阶的存在状态信息耦合的子模型.针对此分布式模型,引入稳态状态和控制的参数化方法设计了允许跟踪目标变化的分布式跟踪预测控制方法.最后,利用高精确度的车辆动力学仿真软件,验证方法的性能,证明所提方法的可行性和有效性.