最优控制在汽车操纵逆动力学的应用  

Application of Optimal Control to Vehicle Handling Inverse Dynamics

作　　者：张丽霞[1] 赵又群[2] 潘福全[1] 

机构地区：[1]青岛理工大学汽车与交通学院,山东青岛266520 [2]南京航空航天大学能源与动力学院,江苏南京210016

出　　处：《应用基础与工程科学学报》2008年第1期73-78,共6页Journal of Basic Science and Engineering

基　　金：高等学校博士学科点专项科研基金(20040287004);江苏省博士后科研资助计划项目(2004300)

摘　　要：提出了一种最优控制理论在汽车操纵逆动力学应用的研究方法.该方法基于最优控制理论,运用改进的直接多重打靶非线性规划方法求解方向盘转矩输入.通过仅假设出节点处的控制变量值,将最优控制问题转化为非线性规划问题,运用序列二次规划方法对转化后的非线性规划问题进行求解.利用该方法仿真出了两类车跟踪同一路径的结果.结果表明,该方法能够使汽车很好地跟踪所希望的路径,而且该方法在求解最优控制问题时更方便,收敛更快.A research method for application of optimal control theory to vehicle handling inverse dynamics was proposed. Based on optimal control theory, steering moment input for the vehicle was solved by the improved direct multiple shooting nonlinear programming method. Only the control variable values at the knots were supposed, and the optimal control problem was converted into a nonlinear programming problem that was then solved by means of the sequential quadratic programming. Simulation results are presented, in which two different vehicles track the same path. The results show that vehicle can well track the desired path; the optimal control problem can be solved more conveniently and efficiently by the proposed method.

关 键 词：汽车操纵动力学 最优控制 逆问题 仿真 

分 类 号：U461[机械工程—车辆工程]