车辆横向稳定性自适应预测控制  

Adaptive and Predictive Control for Vehicle Lateral Stability

作　　者：杨维妙 张建武[1] 冯鹏鹏[1] Yang Weimiao;Zhang Jianwu;Feng Pengpeng(Shanghai Jiao Tong University,Shanghai 200240)

机构地区：[1]上海交通大学,上海200240

出　　处：《汽车技术》2020年第9期27-33,共7页Automobile Technology

基　　金：国家自然科学基金项目(51175333)。

摘　　要：为解决利用车辆机理模型设计控制器时的自适应问题,针对非线性车辆动力学系统,提出一种基于数据驱动的横向稳定性控制策略。利用递推子空间模型辨识算法设计预测器,根据预测器的形式并结合车辆横向稳定性控制提出一种具有模型自适应特性的预测控制器。利用MATLAB/Simulink建立7自由度整车动力学仿真模型,结合国际标准ISO/DIS 7401:2000以及ISO 3888:1999进行实车道路试验,并对仿真模型进行了数值验证,基于整车动力学模型,对自适应预测控制器的控制效果进行了数值仿真验证,证明了算法的有效性和鲁棒性。Targeted for nonlinear vehicle dynamic system,a data-driven stability control strategy is proposed,which aims to solve the problem of lacking self-adaptability of using vehicle mechanism model to design controller.Firstly,a predictor is designed by recursive subspace model identification algorithm,based on which a model-adaptive predictive controller for vehicle lateral stability control is proposed.Then,a 7-DOF vehicle dynamic simulation model is established using MATLAB/Simulink,and vehicle road test is performed according to ISO/DIS 7401:2000 and ISO 3888:1999,mathematic verification is made to this simulation model.Based on the vehicle dynamic model,control effect of this selfadaptive and predictive controller is simulated and verified,the effectiveness and robustness of the algorithm are validated.

关 键 词：车辆稳定性 数据驱动 子空间辨识 预测控制 标准道路试验 数值仿真 

分 类 号：U461.1[机械工程—车辆工程]