A commercial vehicle power-assisted steering neutral-position self-adaptive compensation algorithm based on model predictive control comprises the following steps that vehicle driving parameters are obtained in real time, and when the vehicle driving parameters meet set conditions, a neutral-position self-adaptive compensation mode is started; calculating an optimal front wheel rotation angle delta k based on a Kalman estimation method; a model prediction control problem is established according to a vehicle EPS system model and a neutral position self-adaptive compensation target, the optimal control variable delta Tcom, i at each moment is solved, the optimal control variable delta Tcom, i acts on the neutral position compensation torque change of the EPS until the steering hand force of a driver is gradually reduced to 0, and therefore vehicle power-assisted steering neutral position self-adaptive compensation is achieved. The front wheel turning angle is recognized through the Kalman estimation algorithm, the model prediction control method is adopted for conducting self-adaptive compensation on the steering hand power of the driver, and therefore the steering hand power of the driver is reduced, automobile deviation is prevented, driving fatigue caused by the fact that the driver holds the steering wheel with hands for a long time is reduced, and driving safety is guaranteed.
基于模型预测控制的商用车助力转向中位自适应补偿算法,包括如下步骤:实时获取车辆行驶参数,当车辆行驶参数满足设定条件时,则开启中位自适应补偿模式;基于卡尔曼估计方法计算最优前轮转角δk;根据车辆EPS系统模型和中位自适应补偿目标建立模型预测控制问题,并求取各时刻最优的控制变量ΔTcom,i,将其作用于EPS的中位补偿力矩变化,直到驾驶员转向手力逐渐减小至0,由此实现车辆助力转向中位自适应补偿。本发明通过卡尔曼估计算法识别前轮转角,并采用模型预测控制方法对驾驶员转向手力进行自适应补偿,从而减少驾驶员的转向手力,防止汽车跑偏,并减少驾驶员因长期手扶方向盘造成的驾驶疲劳,保证驾驶安全。
Commercial vehicle power-assisted steering neutral position self-adaptive compensation algorithm based on model predictive control
基于模型预测控制的商用车助力转向中位自适应补偿算法
2024-05-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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