重庆大学学报2018，Vol.41Issue(1)：61-69,9.DOI:10.11835/j.issn.1000-582X.2018.01.007
电动汽车横摆力矩拉盖尔函数模型预测控制
Yaw moment control of electric vehicles based on model predictive theory using Laguerre functions
摘要
Abstract
To improve the lateral stability of electric vehicles driven by rear wheel hub motor,a hierarchically coordinated vehicle dynamics control approach is presented.The high-level controller is based on the theory of model predictive control using Laguerre functions and it is designed to determine generalized moment by tracking the desired yaw angular velocity which is limited by the constraint of additional yaw moment.The low-level controller takes the rear wheels' work-load rate as the objective function and distributes the additioral yaw moment to the two rear wheels by solving quadratic programming.And the constraint problems caused by the road adhesion and actuators are considered in the quadratic optimization.The control method is verified by Carsim and Matlab/Simulink under the conditions of a single step steering input and double-lane change,respectively.Simulation results show that under the condition of high adhesion road,the control method can reduce the reaction time and overshoot,and improve the quality of the transient response of vehicles;under the condition of low adhesion road,it makes cars track the desired yaw angular velocity and avoid cornering instability.关键词
后轮驱动/模型预测控制/拉盖尔函数/控制分配/电动汽车Key words
rear-wheel drive/model predictive control/Laguerre function/control allocation/electric vehicle分类
交通工程引用本文复制引用
吴明阳,冀杰..电动汽车横摆力矩拉盖尔函数模型预测控制[J].重庆大学学报,2018,41(1):61-69,9.基金项目
国家自然科学基金青年基金资助项目(61304189) （61304189）
重庆市前沿与应用基础研究计划一般项目(CSTC2015JCYJA60007) （CSTC2015JCYJA60007）
中央高校基本业务费专项资金重点/双创资助项目(XDJK2015B028/XDJK2016E052).Supported by the Youth National Natural Science Foundation of China (61304189),Frontiers and Applied Basic Research Project of Chongqing (CSTC2015JCYJA60007)and the Fundamental Research Funds for the Central Universities (XDJK2015B028/XDJK2016E052). （XDJK2015B028/XDJK2016E052）
