The invention provides an automobile trajectory tracking control method based on rapid model prediction. The purpose is to optimize calculation of model prediction control and improve solving speed ofmodel prediction control. The method comprises the steps: establishing a vehicle dynamics model, establishing an automobile trajectory tracking control system based on rapid model prediction, constructing an optimization problem based on system output and given output, and performing optimization calculation on model prediction control based on a Move-Block strategy, and the like. According to the method disclosed in the invention, on the basis of model prediction control, a Move-blocking strategy is introduced to optimize model predictive control, the calculation complexity of the optimization process is reduced, the model predictive control can be quickly solved, the real-time performance of automobile control is improved, that a system outputs a tight tracking expected value under theconstraint condition can be guaranteed, and tracking accuracy is enhanced.
本发明提供一种基于快速模型预测的汽车轨迹跟踪控制方法,目的是优化模型预测控制的计算,提高模型预测控制的求解速度,包括建立车辆动力学模型、建立基于快速模型预测的汽车轨迹跟踪控制系统、基于系统输出与给定输出构建优化问题、基于Move‑Blocking策略对模型预测控制进行优化计算等步骤,本发明在模型预测控制的基础上,引入Move‑blocking策略将模型预测控制进行优化,减小优化过程的计算复杂度,使其能快速求解,提高汽车控制的实时性,能够在满足约束条件下保证系统输出紧密跟踪期望值,使跟踪精确度更高。
Automobile trajectory tracking control method based on rapid model prediction
一种基于快速模型预测的汽车轨迹跟踪控制方法
2020-07-14
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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