农业机械学报2012，Vol.43Issue(1)：1-5,36,6.DOI:10.6041/j.issn.1000-1298.2012.01.001
基于广义预测控制的汽车横摆稳定性控制
Vehicle Yaw Stability Control Based on Generalized Predictive Control
摘要
Abstract
The vehicle easily loses yaw stability in the emergency obstacle avoidance manoeuvre, and the vehicle yaw stability control can be accomplished by applying the vehicle additional yaw moment by means of four wheels differential braking. As the vehicle dynamic model is nonlinear and its parameters and environment is uncertainty, the vehicle additional yaw moment decided by the optimal control is always unable to maintain optimal in reality. The generalized predictive control ( CPC) method was proposed for deciding the vehicle additional yaw moment. The nonlinear 7-DOF vehicle model was built as the predictive model, and its accuracy was verified by vehicle tests. The control performances of GPC method were verified by virtual tests in the Simulink/Carsim, test results showed that the GPC method was more effective than the LQR method in improving the vehicle active safety.关键词
汽车/主动安全/横摆稳定性控制/广义预测控制Key words
Vehicle/ Active safety/ Yaw stability control/ Generalized predictive control分类
交通工程引用本文复制引用
杨建森,李飞,丁海涛,郭孔辉,郝宝青..基于广义预测控制的汽车横摆稳定性控制[J].农业机械学报,2012,43(1):1-5,36,6.基金项目
国家高技术研究发展计划(863计划)资助项目(2006AA110103)和国家重点基础研究发展计划(973计划)资助项目(2011CB711205) （863计划）
