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基于廣義預(yù)測(cè)控制的汽車橫擺穩(wěn)定性控制
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國(guó)家高技術(shù)研究發(fā)展計(jì)劃（863計(jì)劃）資助項(xiàng)目(2006AA110103);國(guó)家重點(diǎn)基礎(chǔ)研究發(fā)展計(jì)劃（973計(jì)劃）資助項(xiàng)目(2011CB711205)


Vehicle Yaw Stability Control Based on Generalized Predictive Control
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    摘要:

    汽車在緊急避障操縱時(shí)容易喪失穩(wěn)定性，通過(guò)四輪差動(dòng)制動(dòng)的方式對(duì)汽車施加附加橫擺力矩可以實(shí)現(xiàn)汽車的橫擺穩(wěn)定性控制,。由于汽車動(dòng)力學(xué)模型的非線性以及參數(shù)和環(huán)境的不確定性,，使用最優(yōu)控制方法決策的附加橫擺力矩在實(shí)際中往往無(wú)法保持最優(yōu)。由此提出廣義預(yù)測(cè)控制（GPC）方法決策附加橫擺力矩,。建立了七自由度非線性車輛模型作為預(yù)測(cè)模型,，并通過(guò)實(shí)車試驗(yàn)對(duì)其精度進(jìn)行了驗(yàn)證,。通過(guò)Simulink/Carsim環(huán)境中的虛擬試驗(yàn)對(duì)GPC方法的控制效果進(jìn)行了驗(yàn)證，結(jié)果表明GPC方法比LQR方法能更有效地提高汽車的主動(dòng)安全性,。

    Abstract:

    The vehicle easily loses yaw stability in the emergency obstacle avoidance manoeuvre, and the vehicle yaw stability control can be accomplished by applying the vehicle additional yaw moment by means of four wheels differential braking. As the vehicle dynamic model is nonlinear and its parameters and environment is uncertainty, the vehicle additional yaw moment decided by the optimal control is always unable to maintain optimal in reality. The generalized predictive control (GPC) method was proposed for deciding the vehicle additional yaw moment. The nonlinear 7-DOF vehicle model was built as the predictive model, and its accuracy was verified by vehicle tests. The control performances of GPC method were verified by virtual tests in the Simulink/Carsim, test results showed that the GPC method was more effective than the LQR method in improving the vehicle active safety. 

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楊建森,李飛,丁海濤,郭孔輝,郝寶青.基于廣義預(yù)測(cè)控制的汽車橫擺穩(wěn)定性控制[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(1):1-5,36. Yang Jiansen, Li Fei, Ding Haitao, Guo Konghui, Hao Baoqing. Vehicle Yaw Stability Control Based on Generalized Predictive Control[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(1):1-5,36.

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  • 在線發(fā)布日期: 2012-01-12
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