电动汽车行驶稳定性模型预测控制仿真研究  

Simulation of Model Predictive Control for Driving Stability of Electric Vehicle

作　　者：曲海成[1] 王明绪[2] 何健[3] 孙宁[1] QU Hai-cheng;WANG Ming-xu;HE Jian;SUN Ning(School of Software Liaoning Technical University,Liaoning Fuxin 125105,China;College of Information Engineering Zhengzhou University,He’nan Zhengzhou 450001,China;Department of Information Engineering Luoding Polytechnic,Guangdong Luoding 527200,China)

机构地区：[1]辽宁工程技术大学软件学院,辽宁阜新125105 [2]郑州大学信息工程学院,河南郑州450001 [3]罗定职业技术学院信息工程系,广东罗定527200

出　　处：《机械设计与制造》2024年第5期46-49,55,共5页Machinery Design & Manufacture

基　　金：2018年辽宁省普通高等学校本科教学改革项目(辽教函[2018]471号)。

摘　　要：为了提高电动汽车行驶的稳定性,提出了一种集成的汽车和车轮稳定性控制系统,并对汽车行驶的稳定性控制效果进行仿真。创建电动汽车模型简图,给出电动汽车动力学方程式。采用模型预测控制技术,设计了一种集成的汽车和车轮稳定性控制器。采用MATLAB软件对电动汽车横摆角速度、行驶速度和侧滑角进行仿真,与无模型预测控制器输出结果进行对比。结果显示:采用无模型预测控制器,电动汽车横摆角速度、行驶速度跟踪误差较大,振动幅度较大,产生的侧滑角较大。采用模型预测控制器,电动汽车横摆角速度、行驶速度跟踪误差较小,振动幅度较小,产生的侧滑角较小。采用模型预测控制器,能够提高电动汽车行驶的稳定性,避免汽车在突然转弯时发生侧翻现象。In order to improve the driving stability of electric vehicle,an integrated vehicle and wheel stability control system was proposed,and the vehicle driving stability control effect was simulated.The model diagram of electric vehicle was created,and the dynamic equation of electric vehicle was given.An integrated vehicle and wheel stability controller was designed by using model predictive control technology.The yaw rate,driving speed and sideslip angle of electric vehicle were simulated by MATLAB software,and the results were compared with those of model free predictive controller.The results show that the tracking errors of yaw rate and driving speed were larger,the vibration amplitude and sideslip angle were larger by using model free pre-dictive controller.The tracking error of yaw rate and driving speed of electric vehicle was smaller,the vibration amplitude and sideslip angle were smaller by using model predictive controller.The model predictive controller can improve the driving stability of the electric vehicle and avoid the rollover phenomenon when the vehicle suddenly turns.

关 键 词：模型预测控制 汽车 横摆角速度 速度 侧滑角 仿真 

分 类 号：TH16[机械工程—机械制造及自动化] U462[机械工程—车辆工程]