The invention discloses a stability control method and system of an adaptive weight coefficient MPC. Comprising the following steps: calculating a wheel angular velocity of a vehicle in a prediction domain by adopting an MPC algorithm; calculating a slip rate in the prediction domain according to the wheel angular velocity of the vehicle in the prediction domain; constructing a target function according to the slip rate, the additional yawing moment and the four-wheel motor additional torque; and minimizing the target function in the prediction domain to obtain the optimal four-wheel motor additional torque. The target function constructed by the method has the slip rate control target and the energy consumption target, the control quantity can be controlled when the vehicle slips, and the actuation energy is reduced by reducing the control quantity output when the vehicle meets the stability condition, so that the stability and the safety of the vehicle are improved, and the energy consumption of the vehicle is reduced; according to the method, the stability index and the slip rate error are combined, the parameters of the vehicle model prediction controller are adjusted in real time according to the requirement of the current vehicle state, and the self-adaptability of vehicle yaw stability control is improved.

    本发明公开了一种自适应权重系数MPC的稳定性控制方法和系统;包括:采用MPC算法计算车辆在预测域内的车轮角速度;根据车辆在预测域内的车轮角速度计算预测域内滑移率;根据滑移率、附加横摆力矩和四轮电机附加转矩构建目标函数;最小化所述预测域内的目标函数,得到最优的四轮电机附加转矩。本发明构建的目标函数中带有滑移率控制目标和能耗目标,当车辆滑移时能对控制量进行控制,当车辆满足稳定性条件时通过减小控制量输出降低作动能量,提高车辆稳定性和安全性和降低了车辆能耗;本发明结合稳定性指标与滑移率误差,根据当前车辆状态的需求实时调整车辆模型预测控制器的参数,提高了车辆横摆稳定控制的自适应性。


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    Title :

    Adaptive weight coefficient MPC stability control method and system


    Additional title:

    一种自适应权重系数MPC的稳定性控制方法和系统


    Contributors:
    MENG YANGYANG (author) / WANG NIAN (author) / SHI YUXIN (author) / ZHAO DINGYE (author) / FEI LIYING (author)

    Publication date :

    2024-10-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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