东北大学学报（自然科学版）

东北大学学报（自然科学版） ›› 2023, Vol. 44 ›› Issue (2): 162-167.DOI: 10.12068/j.issn.1005-3026.2023.02.002

• 信息与控制 • 上一篇    下一篇

考虑车辆侧偏刚度变化的MPC稳定性控制方法

李寿涛1， 魏玉博1， 李秋媛1， 于丁力1,2   

  1. (1. 吉林大学 通信工程学院， 吉林 长春130022； 2. 利物浦约翰摩尔大学， 利物浦 英国 L35UX)
  • 修回日期:2021-12-11 接受日期:2021-12-11 发布日期:2023-02-27
  • 通讯作者: 李寿涛
  • 作者简介:李寿涛(1975-)，男，吉林长春人，吉林大学副教授.
  • 基金资助:
    吉林省科技厅自然科学基金资助项目(20190201099JC); 汽车仿真与控制国家重点实验室自由探索项目(ascl-zytsxm-202022).

MPC Stability Control Method Considering the Variation of Vehicle′s Cornering Stiffness

LI Shou-tao1， WEI Yu-bo1， LI Qiu-yuan1， YU Ding-li1,2   

  1. 1. College of Telecommunication Engineering， Jilin University， Changchun 130022， China; 2. Liverpool John Moores University， Liverpool， UK.
  • Revised:2021-12-11 Accepted:2021-12-11 Published:2023-02-27
  • Contact: LI Shou-tao
  • About author:-
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摘要： 针对侧向行驶车辆易发生转向失稳，构建了一种考虑轮胎侧偏刚度变化的车辆稳定性控制方法，以避免轮胎侧向力饱和，提高行车安全性.采用前、后轴轮胎侧偏角分段拟合方法建立轮胎侧偏刚度拟合模型，将拟合过的侧偏刚度引入到车辆动力学模型中，准确描述车辆当前的动态性能.为了避免轮胎侧向力饱和引起的转向失稳，本文提出一种基于模型预测控制(model predictive control，MPC)算法的前后轴约束的轮胎侧偏角的车辆稳定性控制方法，以优化车辆的转向性能.仿真结果表明，车辆稳定性控制方法能够将前后轴的轮胎侧偏角抑制在一定范围内，根据侧偏刚度的变化，避免车辆侧滑现象的发生，提高了车辆的稳定性.

关键词: 主动安全性;侧偏刚度拟合;约束前轴侧偏角;最小二乘法;模型预测控制

Abstract: In view of the easy steering instability of vehicles running sideways， this paper considers the variation of tire cornering stiffness to avoid saturation of tire lateral force and improve driving safety and constructs a vehicle stability control method. The front and rear axle tire sideslip angle segmented fitting method is used to establish a tire cornering stiffness fitting model， and then the fitted cornering stiffness is introduced into the vehicle dynamics model to accurately describe the current dynamic performance of the vehicle. In order to avoid the steering instability caused by the saturation of the tire lateral force， this paper proposes a vehicle stability control method based on the model predictive control(MPC)algorithm that considers the constraints of the front and rear axle tire sideslip angles to optimize the vehicle’s steering performance. Simulation results show that the proposed vehicle stability control method can suppress the tire sideslip angle of the front axles within a certain range， while taking into account the changes in the cornering stiffness， thereby avoiding the occurrence of vehicle sideslip and improving the stability performance of the vehicle.

Key words: active safety; cornering stiffness fitting; constrained front axle cornering angle; least square method; model predictive control

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