四轮独立转向电动汽车路径跟踪预测控制

Path Tracking Predictive Control of Four-wheel Independent Steering Electric Vehicle

摘要:

对于四轮独立转向（4WIS）电动汽车采取前后轮同时转向的策略,建立4WIS电动汽车动力学模型,得到相关的状态空间表达式,推导出线性时变路径跟踪预测模型.基于模型预测控制理论,结合约束条件和优化目标函数,将控制算法转化为标准二次规划问题,设计了4WIS路径跟踪控制器;然后利用Matlab/Carsim联合仿真平台,进行双移线工况下的仿真试验,最后验证控制算法对速度和路况的鲁棒性,分析了控制器参数对算法实时性的影响.

Abstract:

Four-wheel independent steering (4WIS) electric vehicle adopts the strategy of simultaneous steering of front and rear wheels; in this paper the dynamic model of the 4WIS electric vehicle is established, and the relevant state space expression is obtained, then the linear time-varying path tracking prediction model is derived. Control algorithm is transformed into standard quadratic programming problem based on model predictive control theory, combined with constraint conditions and optimization objective function. The 4WIS path tracking controller is designed. Then the Matlab/Carsim joint simulation platform is used to carry out the simulation test under double shift line conditions. Finally, the robustness of the control algorithm to speed and road conditions is verified, and the influence of controller parameters on the realtime performance of the algorithm is analyzed.