The invention is suitable for the technical field of electric vehicle motion control, and provides a distributed electric vehicle centralized attitude control method based on model predictive control, which comprises the following steps of: 1, acquiring speed information of a vehicle, constructing a two-degree-of-freedom dynamic model of the vehicle, obtaining expected lateral force and yaw velocity required by vehicle driving, and calculating a model of the vehicle; the wheel turning angle is used as a control quantity; 2, according to the expected driving posture of the vehicle, a predictive controller is designed through a vehicle dynamics model predictive control algorithm, and design control is conducted on vehicle motion; thirdly, according to the distribution relation of the vertical dynamic coefficient of the tire to the tire force, the conversion relation between the steering angle of the wheel, the torque of the hub motor and the suspension force of the active suspension system and all the wheel component force is combined, and the steering angle of the wheel, the torque of the motor and the active suspension force are obtained. Instructions are sent to all execution systems, the control performance is more excellent, and the vehicle control effect is better.
本发明适用于电动汽车运动控制技术领域,提供了基于模型预测控制的分布式电动汽车集中式姿态控制方法,该方法包括以下步骤:步骤一:获取车辆的速度信息,构建车辆二自由度动力模型,得到车辆行驶需要的期望侧向力及横摆角速度,并且把车轮转角作为控制量;步骤二:根据车辆期望行驶姿态,利用车辆动力学模型预测控制算法设计预测控制器,对车辆运动进行设计控制;步骤三:根据轮胎的垂向动态系数对轮胎力的分配关系,结合车轮转向角、轮毂电机转矩和主动悬架系统的悬架力与各个车轮分力之间的转换关系,得到车轮转角、电机转矩以及主动悬架力,本发明采用集中式控制结构,对各个执行系统发送指令,控制性能更加优越,对车辆控制效果更好。
Distributed electric vehicle centralized attitude control method based on model predictive control
基于模型预测控制的分布式电动汽车集中式姿态控制方法
23.06.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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