实时性改进LTV-MPC的车辆稳定性控制研究  

Research on vehicle stability control based on real-time improved LTV-MPC

作　　者：曾兆枫 焦恒超 晋静 舒红宇[1] ZENG Zhaofeng;JIAO Hengchao;JIN Jing;SHU Hongyu(College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆大学机械与运载工程学院,重庆400044

出　　处：《重庆理工大学学报（自然科学）》2023年第3期47-56,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(51975069)。

摘　　要：针对车辆稳定性控制的实时性问题,在线性时变模型预测控制(LTV-MPC)方法基础上,进一步提出了处理不等式约束优化问题的一种时变权重系数改进算法。将不等式约束作为目标函数的惩罚项,并将该惩罚项的权重系数设计为随系统状态而变化,能够直接求解具有不等式约束的二次型优化问题,避免了迭代寻优过程,在简化计算的同时提高了车辆稳定性控制实时性。仿真结果表明,该改进算法既能处理不等式约束,又能提高车辆稳定性MPC控制的实时性。Aiming at the real-time problem of vehicle stability control,this paper proposes an improved time-varying weight coefficient algorithm based on linear time-varying model predictive control(LTV-MPC)method to deal with inequality constrained optimization problems.The inequality constraint is taken as the penalty term of the objective function,and the weight coefficient of the penalty term is designed to change with the system state,which can directly solve the quadratic optimization problem with inequality constraint and avoid the iterative optimization process,thereby simplifying the calculation and improving the real-time performance of vehicle stability control.The simulation results show that the improved algorithm can not only handle inequality constraints,but also improve the real-time MPC control of vehicle stability.

关 键 词：实时性 模型预测 不等式约束优化 时变权重系数 

分 类 号：U463[机械工程—车辆工程]