基于模型预测控制的轮毂电机驱动车辆防侧翻控制

doi:10.3969/j.issn.1000-1093.2021.01.002

兵工学报 ›› 2021, Vol. 42 ›› Issue (1): 11-25.doi: 10.3969/j.issn.1000-1093.2021.01.002

基于模型预测控制的轮毂电机驱动车辆防侧翻控制

王志福¹，白金¹，黄康伦²，王军¹，王阳¹，梁常春³，王瑞³

(1.北京理工大学机械与车辆学院，北京 100081； 2.北京理工大学深圳汽车研究院，广东深圳 518118；3.北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室，北京 100094)

上线日期:2021-03-11
通讯作者: 王军（1968—），男，副教授，博士 E-mail:wangjun@bit.edu.cn
作者简介:王志福(1977—)，男，副教授，博士。E-mail: wangzhifu@bit.edu.cn
基金资助:
国家自然科学基金项目（51775042）

Rollover Prevention Control for In-wheel Motor Drive Vehicle Based on Model Prediction Control

WANG Zhifu¹, BAI Jin¹, HUANG Kanglun², WANG Jun¹, WANG Yang¹, LIANG Changchun³, WANG Rui³

(1.School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China;2.Shenzhen Research Institute，Beijing Institute of Technology, Shenzhen 518118, Guangdong，China;3.Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, China)

Online:2021-03-11

摘要/Abstract

摘要： 针对8×8轮毂电机驱动车辆侧翻稳定性问题，提出基于模型预测控制的主动防侧翻控制策略。采用分层控制结构设计车轮转角和电机转矩的分配控制策略，以充分发挥研究对象各轮转矩、转角独立可控的特点开展稳定性控制；基于模型预测控制方法设计主动防侧翻控制策略，并简化滚动优化算法，使运算量降低以保证实时性；通过重型车辆模拟分析软件Trucksim与数学仿真软件MATLAB/Simulink联合仿真实验以及比例模型车辆试验进行验证。结果表明，通过所提分层控制策略与基于模型预测控制的主动防侧翻控制策略，车辆可以避免侧翻失稳，能够准确跟踪驾驶员期望的行驶轨迹。

关键词: 轮毂电机驱动车辆, 模型预测控制, 转矩分配, 操纵稳定性, 防侧翻

Abstract: An active anti-rollover control strategy based on the model predictive control is proposed for the rollover stability of 8×8 in-wheel motor drive vehicle. In order to make full use of the independent controllable characteristics of the torque and turning angle of each wheel, a hierarchical control structure is used to design a control strategy for the distribution of wheel angle and motor torque, and then design an active anti-rollover control strategy based on the model predictive control. And the rolling optimization algorithm is simplified to reduce the amount of calculation to ensure real-time performance. Through MATLAB/Simulink and Trucksim co-simulation and proportional model vehicle test, it is shown that the vehicle rollover instability can be avoided and the driver's desired travel trajectory can be tracked as well by using the proposed hierarchical control strategy and the active anti-rollover control strategy based on the model predictive control.

Key words: in-wheelmotordrivevehicle, modelpredictivecontrol, torquedistribution, handingstability, rolloverprevention

中图分类号:

TJ810.2

王志福，白金，黄康伦，王军，王阳，梁常春，王瑞. 基于模型预测控制的轮毂电机驱动车辆防侧翻控制[J]. 兵工学报, 2021, 42(1): 11-25.

WANG Zhifu, BAI Jin, HUANG Kanglun, WANG Jun, WANG Yang, LIANG Changchun, WANG Rui. Rollover Prevention Control for In-wheel Motor Drive Vehicle Based on Model Prediction Control[J]. Acta Armamentarii, 2021, 42(1): 11-25.

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基于模型预测控制的轮毂电机驱动车辆防侧翻控制

Rollover Prevention Control for In-wheel Motor Drive Vehicle Based on Model Prediction Control

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