车辆起步MPC控制器设计及FPGA实现  

MPC Controller Design and FPGA Implementation for Start-up of Vehicles

作　　者：许月亭 陈虹[1,2] 季冬冬[2] 许芳[2] 

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,长春130025 [2]吉林大学控制科学与工程系,长春130025

出　　处：《控制工程》2015年第5期785-792,共8页Control Engineering of China

基　　金：国家自然科学基金重点项目(61034001);“973”国家重点基础研究发展计划项目(2012CB821202);教育部“长江学者和创新团队发展计划”创新团队项目(IRT1017);吉林省科技发展计划重大专项项目(20116001)

摘　　要：针对车辆起步过程快速平稳、冲击小,乘坐舒适性的要求,基于先进的模型预测控制(Model Predictive Control,MPC)方法设计了车辆起步控制器,采用有效集方法进行MPC优化问题的求解。同时为了提高MPC的在线求解速度,提出了基于现场可编程门阵列(Field Programmable Gate Array,FPGA)和片上可编程系统(System on a Programmable Chip,SOPC)技术的MPC控制器硬件实现方案。最终在基于FPGA与d SPACE实验平台上完成了实时仿真实验,实现了基于FPGA的车辆起步控制,实验结果表明基于FPGA设计实现的MPC控制器能很好地满足车辆起步控制需求。In order to meet the performance for the start-up of the vehicle, such as rapidity, smoothness, small shock and riding comfort, this paper designs the controller for the start-up of vehicles based on the advanced model predictive control method, and adopts the active set method to solve the optimization problem of MPC. In addition, in order to improve the online solving speed of MPC, this paper proposes a hardware implementation scheme for the MPC controller based on the technology of FPGA and SOPC. Finally real-time simulation experiments are performed on the test platform based on FPGA and dSPACE, and the results show that the designed model predictive controller based on FPGA can meet the control demand for the start-up of vehicles.

关 键 词：车辆起步 模型预测控制 现场可编程门阵列 实时仿真实验 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]