摘要
在危险工况下,主动转向与差动制动的协同作用是有效避免车辆失稳情况过早发生的重要手段,然而执行机构的响应滞后导致系统响应精度下降,甚至造成稳定性恶化.针对上述问题,本文分析了各控制输入通道的时滞特性,提出了基于时滞补偿的车辆主动扩稳优化控制方法.首先,建立包含控制输入时滞的车辆系统二自由度动力学模型;其次,应用随机算法设定各控制输入通道的随机时滞,依据β-■相图辨识出满足车辆稳定性条件的时滞边界;然后以跟踪期望横摆角速度和质心侧偏角为控制目标,设计了可同时补偿多通道多尺度时滞的主动扩稳模型预测控制器;最后,基于veDYNA仿真软件,在不同工况下验证了该控制器的有效性.结果表明,本文提出的控制整体框架对各个控制输入通道的有界时滞变化具有自适应性,使得横摆角速度更好地跟踪上期望值,且质心侧偏角相轨迹在相平面的稳定边界内,达到了主动扩稳的目的.
Under dangerous conditions,the synergistic effect of active steering and differential braking can avoid the premature occurrence of vehicle instability effectively.However,the system response accuracy will decline and even the stability will deteriorate due to the response delay of the actuator.Aiming at the above problems,this paper analyzes the time-delay characteristics of each control input channel,and proposes an optimization control method for active stability expansion of vehicles based on time delay compensation.Firstly,the two-degree-of-freedom model including control input time-delay is established.Secondly,random algorithm is applied to set the random time delay of each control input channel,and the time delay boundary satisfying the condition of vehicle stability is identified according to the phase ofβ-■.Then,an active augmented stability model predictive controller is designed to track the desired yaw rate and the sideslip angle.Finally,based on veDYNA,the effectiveness of the controller is verified under different conditions.The control overall framework proposed in this paper is adaptive,so that the yaw rate better tracks the expected value,and the side-slip angle phase is within the stable boundary of the phase plane,achieved the purpose of actively expanding steadily.
作者
王萍
刘姿玚
陈虹
郭洪艳
WANG Ping;LIU Zi-yang;CHEN Hong;GUO Hong-yan(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun Jilin 130025,China;Department of Control Science and Engineering,Jilin University,Changchun Jilin 130025,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2020年第6期1253-1259,共7页
Control Theory & Applications
基金
国家重点研发计划项目(2018YFB0104805)
国家自然科学基金项目(61790564)
吉林省科技发展计划项目(20180101326JC)资助.
关键词
时滞补偿
相平面
模型预测控制
主动扩稳
time delay compensation
phase plane
MPC controller
active stability control
