Vehicle yaw stability predicting model control method

Abstract

The invention relates to a vehicle yaw stability predicting model control method and belongs to the technical field of a vehicle control. The disturbance-observer-based vehicle yaw stability predicting model control method uses a model predicting control method to design a linear model predicting controller, considers constraint conditions and can reduce computation time, track an expected value as much as possible and keep vehicle stability. The method includes: designing a reference model; performing linearization on a vehicle two-freedom-degree nonlinear model to obtain a linear model withmodel error disturbance terms; designing error terms in a disturbance observer pair model according to the linear model; using a model predicting control algorithm to build a target function, and solving an optimal problem corresponding to a cost function to obtain control input acting to a system to allow the vehicle system to track the expected value as much as possible so as to guaranteed vehicle stability. By the method, model complexity can be lowered effectively, control precision requirements are satisfied, and the constraint of driving torque is considered.

Description

technical field [0001] The invention belongs to the technical field of vehicle control. Background technique [0002] Vehicle yaw stability control is a very important part of automotive electronic control, especially for electric vehicles, which are transformed from traditional mechanically connected power assist systems to wire-controlled steering and four-wheel independent drive. With the improvement of vehicle dynamic performance, the complexity of road driving conditions has increased, and the instability of vehicles has become an urgent problem for vehicle control researchers to solve. With the development of vehicle chassis technology, the integrated control method based on active front wheel steering and direct yaw moment has become one of the key research contents. [0003] The vehicle yaw stability control for in-wheel motors mainly has the following problems: [0004] 1. The vehicle yaw stability control of in-wheel motors is a multivariable, strongly nonlinear ...

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Problems solved by technology

[0004] 1. The vehicle yaw stability control of in-wheel motors is a multivariable, strongly nonlinear and system-constrained problem. The controller established based on the vehicle nonlinear model has a large computational burden and cannot meet the solution time requirements.

[0005] 2. Although the model predictive controller designed based on the vehicle linear model avoids a large number of calculations, it cannot meet the control accuracy requirements of the system

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