Receding Horizon LQT Control for Vehicle Driveability under Tip-in Condition

摘要

When the vehicle is under the Tip-in condition, the low-frequency longitudinal vibration occurs which generates a large jerk and makes a bad impact on the riding comfort. Under the Tip-in condition, the vehicle dynamic performance requires quick engine torque rise process, while quick torque rise process will lead to bad riding comfort. Therefore, in this paper an engine torque compensation controller is designed taking vehicle driveability as the optimization goals, and using the vehicle jerk limit as the boundary condition. First, according to the vehicle dynamic analysis, the control-oriented model of the vehicle driveline is established and verified by the real vehicle experimental data. Second, the Receding Horizon Linear Quadratic Tracking (RHLQT) algorithm taking vehicle acceleration as the tracking target is designed. Finally, by simulating on the hardware-in-the-loop (HIL) platform, the vehicle driveability under the control of the RHLQT, PID and the torque rising slope limit method are compared and analyzed. The result shows that the proposed control algorithm can achieve both good dynamic performance and acceptable riding comfort of the vehicle.