基于FPGA的车辆横摆稳定预测控制器设计实现  

MPC Controller Design and FPGA Implementation for Vehicle Yaw Stability Control

作　　者：梅钦[1,2] 许芳[2] 陈虹[1,2] 李宗俐[2] MEI Qin XU Fang CHEN Hong LI Zongl(a. State Key Laboratory of Automotive Simulation and Contro b. College of Communication Engineering, Jilin University, Changchun 130022,)

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130022 [2]吉林大学通信工程学院,长春130022

出　　处：《吉林大学学报（信息科学版）》2016年第3期359-366,共8页Journal of Jilin University（Information Science Edition）

基　　金："973"课题基金资助项目(2012CB821202);国家自然科学基金资助项目(61374046;61403159)

摘　　要：为提高车辆横摆稳定预测控制器的实时性,采用现场可编程门阵列(FPGA:Field Programmable Gate Array)设计实现了该预测控制器,并采用基于罚函数的粒子群算法预测控制二次规划问题的求解。同时通过FPGA进行并行运算,以减少运算时间。为了验证控制器的有效性,以车辆动力学软件ve DYNA中的车辆模型为被控对象,以FPGA为控制器的硬件实现平台进行了实时实验。实验结果表明,基于FPGA实现的预测控制器能很好地满足车辆横摆稳定控制的实时性要求,为控制器的实车实验奠定了实践基础。In order to improve the real-time performance of predictive controller for vehicle yaw stability control,we implement a predictive controller based on FPGA （Field Programmable Gate Array）, and adopt PSO （ParticleSwarm Optimization ） combined with penalty function to solve the QP （Quadratic Programming） problem. TheFPGA is used to reduce operation time of the MPC （Model Predictive Control） controller by using parallelcomputations. In order to verify the effectiveness of the controller, real-time tests are carried out in the typicalvehicle running condition. In the tests, vehicle dynamic model in veDYNA is used as the plant, and the FPGA isused as the hardware platform of controller. The simulation results indicate that the MPC controller can satisfy therequirements of the vehicle yaw stability control well, and lay the foundation for the controller to real vehicle test.

关 键 词：模型预测控制 车辆横摆稳定性 粒子群算法 现场可编程门阵列 实时实验 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]