The invention discloses a longitudinal adaptive control method based on a nonlinear MPC rapid solving method, which comprises the following steps of: 1) constructing an automobile system model, and simplifying a vehicle longitudinal kinematics model into a single-degree-of-freedom model; 2) optimization problem construction: selecting speed tracking performance in a prediction time domain as a target function, adding a penalty term on the basis of a speed tracking term, and constructing a cost function; 3) system constraint: constraining the state quantity and the control quantity of the system within a certain range; 4) obtaining a corresponding optimization function by comprehensively controlling the optimization cost function and the corresponding constraint condition; and (5) optimization control system solution is carried out, a Hamiltonian function is introduced, and the value and dominant solution of a quadratic equation are obtained by giving the current vehicle speed and target information. According to the method, the nonlinear optimization problem is converted into the two-point boundary value problem by introducing the co-state variable, the analytic expression of the optimal control sequence under the initial value of the co-state variable is obtained by utilizing the characteristics of the controlled system, and the dimensionality and complexity of the optimization control problem are reduced.
本发明公开了一种基于非线性MPC快速求解方法的纵向自适应控制方法,包括1)汽车系统模型构建,车辆纵向运动学模型简化为单自由度模型;2)优化问题构建,选定预测时域内的速度跟踪性为目标函数,在速度跟踪项基础上增加惩罚项,并构建代价函数;3)系统约束,将系统的状态量和控制量约束在一定范围内;4)通过综合控制优化代价函数以及对应的约束条件,得到相应的优化函数;5)优化控制系统求解,引入哈密顿函数,通过给定当前车速和目标信息求得一元二次方程的值和显性解。本发明通过引入协态变量将非线性优化问题转化为两点边值问题,利用被控系统的特性获得协态变量初值下最优控制序列的解析表达,降低了优化控制问题的维度和复杂度。
Longitudinal adaptive control method based on nonlinear MPC rapid solving method
一种基于非线性MPC快速求解方法的纵向自适应控制方法
2024-03-12
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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