四轮驱动电动汽车转向行驶自适应预测控制  

Adaptive predictive control for steering driving of four-wheel drive electric vehicles

作　　者：牛文政 曹付义 罗自赢 徐立友 NIU Wenzheng;CAO Fuyi;LUO Ziying;XU Liyou(College of Vehicle and Traffic Engineering,Henan University of Science and Technology,Luoyang 471003,China)

机构地区：[1]河南科技大学车辆与交通工程学院,洛阳471003

出　　处：《现代制造工程》2023年第7期73-78,共6页Modern Manufacturing Engineering

基　　金：河南省重大科技专项项目(221100240400);十三五国家重点研发计划项目(2016YFD0701002-2)。

摘　　要：为改善四轮驱动电动汽车在转向行驶工况下因车速较快导致的横向稳定性下降问题,提出了一种基于模型预测控制(Model Predictive Control,MPC)的自适应预测控制方法。在建立车辆三自由度模型、轮胎模型和驾驶员模型的基础上,通过结合模型预测控制和比例积分微分(Proportional Integral Derivative,PID)控制,设计了自适应预测控制器,以实现四轮驱动电动汽车横向稳定控制。通过CarSim软件与Simulink软件进行联合仿真,结果表明,与传统PID控制相比,自适应预测控制的侧向位移减小了7.9%,横摆角速度降低了37.5%,所提出的控制方法有效提高了期望路径的跟踪精度,改善了四轮驱动电动汽车在转向行驶过程中的横向稳定性。A method for adaptive predictive control based on Model Predictive Control(MPC)has been proposed to address the problem of decreased lateral stability in four-wheel drive electric vehicles during steering maneuvers at high speeds.This method was designed by combining model predictive control and Proportional Integral Derivative(PID)control based on the establishment of the vehicle′s three-degree-of-freedom model,tire model,and driver model.An adaptive predictive controller was designed to achieve lateral stability control of four-wheel drive electric vehicles.Joint simulation using CarSim and Simulink software showed that the adaptive predictive control reduced lateral displacement by 7.9% and yaw rate by 37.5% compared to traditional PID control.The proposed control method effectively improved the tracking accuracy of the desired path and improved the lateral stability of four-wheel drive electric vehicles during the steering process.

关 键 词：四轮驱动 电动汽车 转向行驶 自适应预测控制 

分 类 号：U461.6[机械工程—车辆工程]