Real-Time nonlinear predictive controller design for drive-by-wire vehicle lateral stability with dynamic boundary conditions  

作　　者：Xiyue Zhang Ping Wang Jiamei Lin Hong Chen Jinlong Hong Lin Zhang 

机构地区：[1]State Key Laboratory of Automotive Simulation and Control Jilin University,Changchun 130025,China [2]The Department of Control Science and Engineering,School of Communication Engineering,Jilin University,Changchun 130025,China [3]College of Electronics and Information Engineering,Tongji University,Shanghai,201804,China [4]The Postdoctoral Station of Mechanical Engineering,School of Automotive Studies,Tongji University,Shanghai,201804,China

出　　处：《Fundamental Research》2022年第1期131-143,共13页自然科学基础研究（英文版）

基　　金：the National Natural Science Foundation of China(Grants No.62073152,61790564 and Grant U1964202);in part by the Graduate Innovation Fund of Jilin University(Grant No.101832020CX174).

摘　　要：Due to flexible drive-by-wire technology,vehicle stability control can improve handling and lateral stability under extreme conditions.However,this technology can also increase the probability of random transmission delay.This paper proposes a nonlinear model predictive control(NMPC)strategy to improve vehicle stability and compensate for the random time delay.First,by combining the nonlinear dynamic characteristics and driver behavior,we obtain a stable region of the yaw rate and the sideslip angle under complex driving conditions.Second,an NMPC controller is designed to track the reference values in the identified stable region to improve the handling and lateral stability.Finally,the actuator receives the optimized control sequence and compensates for the random time delay of the transmission channel.CarSim/Simulink simulation and hardware-in-the-loop experiment results show that the proposed controller with dynamic boundary conditions can better track the expected value of the yaw rate and suppress the sideslip angle under low adhesion road conditions.

关 键 词：Nonlinear model predictive control Stable region Random time delay Delay compensator Vehicle stability control 

分 类 号：O17[理学—数学]