面向操纵稳定性的某越野车最优控制研究  

Research on Optimal Control of an Off-Road Vehicle for Handling Stability

作　　者：孙传耀 顾亮 胡煦 田恩彤 SUN Chuan-yao;GU Liang;HU Xu;TIAN En-tong(Vibration and Noise Control Laboratory,School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学机械与车辆学院振动与噪声控制研究所,北京100081

出　　处：《机械设计与制造》2023年第8期272-276,共5页Machinery Design & Manufacture

摘　　要：针对越野车辆对操纵稳定性与安全性要求较高的问题,提出了一种基于车辆实时运动状态参数对其操纵稳定性进行优化的模型预测控制器(MPC)与线性二次型调节器(LQR)的多模态混合控制器。首先,根据车辆运动学方程搭建车辆二自由度理论模型;然后根据理论模型求出其状态空间方程并对MPC,LQR控制器以及多模态混合控制器进行设计;随后搭建基于Carsim/Simulink的虚拟联合仿真平台,针对两种典型的操纵稳定性试验工况进行仿真验证与对照。结果表明,相较于单纯的MPC或LQR控制器,所设计的多模态混合控制器能够有效地提高越野车在恶劣路况下的操纵稳定性与安全性。Aiming at the problem of high requirements for handling stability and safety of off-road vehicle(ORV),a multi-mode hybrid controller based on model predictive controller(MPC)and linear quadratic regulator(LQR)is proposed to optimize the handling stability of off-road vehicles based on real-time motion state parameters.Firstly,a two degree offreedom theoretical model of vehicle is built according to the vehicle kinematics equation.Secondly,on the basis of the theoretical model,the state space equation is obtained,MPC,LQR controller and multi-mode hybrid controller are designed.Afier that,a virtual joint simulation platform based on Carsim and Simulink was built,two typical handling and stability test conditions were simulated and compared.The results showed that compared with MPC and LQR controller,the multi-mode hybrid controller can effectively improve the handling stability and safety of the ORV in bad road conditions.

关 键 词：越野车 操纵稳定性 联合仿真 模型预测控制(MPC) 线性二次型调节器(LQR) 混合控制 

分 类 号：TH16[机械工程—机械制造及自动化] U461.6[机械工程—车辆工程]