基于模型预测的主动前轮转向与直接横摆力偶矩协同控制研究  

Research on the Coordinated Control of Active Front Steering and Direct Yaw-Moment Control Based on the Model Prediction

作　　者：李波 李双双 白艳飞 张国党 邵帅 Li Bo;Li Shuangshuang;Bai Yanfei;Zhang Guodang;Shao Shuai(Beijing Electric Vehicle Co.,Ltd.,Beijing 100176)

机构地区：[1]北京新能源汽车股份有限公司,北京100176

出　　处：《汽车技术》2023年第1期37-43,共7页Automobile Technology

摘　　要：为提高中低附着系数路面下车辆的侧向稳定性,构建了基于模型预测控制(MPC)的主动前轮转向(AFS)及直接横摆力偶矩(DYC)协同控制器,其决策层基于MPC获取附加横摆力偶矩,执行层由AFS和DYC控制协同修正前轮转角或施加轮缸制动压力。在双移线(DLC)工况下仿真验证了该策略的有效性,结果表明:路面附着系数为0.25时,车身侧偏角和横摆角速度分别稳定于-3.5°~3.5°和-16~16 (°)/s内,纵向车速稳定于88 km/h左右;路面附着系数为0.40时,纵向车速、车身侧偏角与横摆角速度等稳定性指标均有明显改善。综合分析表明,该AFS-DYC协同控制策略可显著改善中低附着系数条件下的操纵稳定性。To improve the lateral stability of vehicles on middle and low adhesion roads, a coordinated controller of Active Front Steering(AFS) and Direct Yaw-moment Control(DYC) based on Model Predictive Control(MPC) is constructed. The controller is composed of an upper decision-making layer and a lower executive layer. The upper layer is based on MPC to obtain the required additional yaw moment, and the lower one aims to correct the steering angles of front wheels or apply the wheel cylinder pressure by AFS and DYC. The effectiveness of the control strategies in Double Lane Change(DLC) scenarios is validated, which reveals that, with the road adhesion coefficient being 0.25, the vehicle slip angle and yaw rate are stabilized within-3.5°~3.5° and-16~16(°)/s respectively, the longitudinal vehicle speed stabilized at roughly 88 km/h. With a road adhesion coefficient of 0.4, the relevant stability indices, including the longitudinal vehicle speed, vehicle slip angle and yaw rate, are significantly improved by the coordinative strategy. Analysis indicates that this AFS-DYC coordinated control strategy can significantly improve vehicle handling stability under medium and low adhesion coefficient condition.

关 键 词：汽车动力学 侧向稳定性 模型预测 协同控制 

分 类 号：U463.51[机械工程—车辆工程]