The invention discloses a rapid real-time rear wheel active steering prediction control method, and belongs to the technical field of vehicle control. The invention aims to provide the rapid and real-time rear wheel active steering predictive control method which can ensure the stability of a vehicle by tracking an expected yaw velocity and restrain a side slip angle with effect of a designed controller under the condition that the vehicle drives on a low-adhesion road surface. The method comprises the steps of building a model of a rear wheel active steering vehicle, building a simulation working condition, designing a model prediction controller, and designing an optimization problem rapid solving algorithm. According to the method, the stability of the vehicle under the low-attachment driving working condition is further improved, the solving time is effectively shortened, the real-time performance of the algorithm is improved, and the implementation difficulty of the controller isreduced.
一种快速实时的后轮主动转向预测控制方法,属于车辆控制技术领域。本发明的目的是使得车辆在低附着路面行驶工况下,能够在所设计的控制器的作用下跟踪期望的横摆角速度同时能够抑制质心侧偏角从而保证车辆稳定性的快速实时的后轮主动转向预测控制方法。本发明步骤是:后轮主动转向车辆的模型搭建与仿真工况的构建、模型预测控制器设计、优化问题快速求解算法设计。本发明进一步提高了车辆在低附着行驶工况下的稳定性,有效降低求解时间,提高算法实时性,降低了控制器的实现难度。
Rapid and real-time rear wheel active steering prediction control method
快速实时的后轮主动转向预测控制方法
2021-02-02
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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