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Adaptive Adjustment Method of Automobile Active Front Wheel Steering Based on Model Predictive Control

A technology of active front wheel steering and model predictive control, which is applied to steering mechanisms, steering rods, automatic steering control components, etc., and can solve problems such as inability to reflect the nonlinear dynamic characteristics of automobiles and poor control effects of the AFS system

Inactive Publication Date: 2018-12-21
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0004] In order to solve the problem that the existing linear time-varying MPC method cannot reflect the nonlinear dynamic characteristics of the vehicle in the rolling prediction process, which leads to the poor control effect of the AFS system under extreme conditions

Method used

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  • Adaptive Adjustment Method of Automobile Active Front Wheel Steering Based on Model Predictive Control
  • Adaptive Adjustment Method of Automobile Active Front Wheel Steering Based on Model Predictive Control
  • Adaptive Adjustment Method of Automobile Active Front Wheel Steering Based on Model Predictive Control

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Embodiment Construction

[0080] The present invention will be described in detail below in conjunction with the drawings and embodiments.

[0081] figure 1 It is a schematic diagram of the system structure of the present invention based on the model predictive control of the adaptive adjustment method of the active front wheel steering of the automobile. The system mainly includes the reference model 1, the tire data processor 2, the MPC controller 3, and the Carsim car model 4; To determine the desired yaw rate of the car; the tire data processor 2 is used to determine the side slip angle, lateral force and lateral force gradient of the tire; the CarSim car model 4 is used to output the actual movement state information of the car, including the longitudinal speed of the car , Yaw rate, center of mass slip angle and road adhesion coefficient; MPC controller 3 according to the expected car yaw rate and the actual state of the car's actual motion information, optimize the car's front wheel additional corn...

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Abstract

The method comprises the following steps: a reference model, a tire data processor, an MPC controller and a CarSim vehicle model; The reference model is used to determine the desired yaw angular velocity of the vehicle. The tire data processor is used for determining the side angle, side force and side force gradient of the tire. The CarSim automobile model is used to output the information of theactual moving state of the automobile, including the longitudinal velocity, yaw angular velocity, center-of-mass deflection angle and road adhesion coefficient. According to the expected yaw angularvelocity and the actual motion state of the vehicle, the MPC controller optimally solves the additional rotation angle of the front wheel of the vehicle and outputs it to the CarSim vehicle model to control the vehicle to achieve yaw stability control.

Description

Technical field: [0001] The invention relates to the field of automobile yaw stability control, in particular to an adaptive adjustment method of automobile active front wheel steering based on model predictive control. Background technique: [0002] As people pay more and more attention to car driving safety, car active safety systems are developing rapidly, among which Active Front Steering (AFS) technology is widely used as an effective yaw stability control system. At present, the control methods adopted by AFS mainly include PID control, sliding mode variable structure control and model predictive control (Model Predictive Control, MPC), etc. Among them, model predictive control can better handle multi-objective tasks and system constraints. The field of sexual control has been widely used. [0003] According to different prediction models and optimization methods used, MPC can be divided into linear MPC and nonlinear MPC. Linear MPC is widely used due to its low computation...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D6/00B60W30/045B62D101/00B62D111/00B62D137/00
CPCB60W30/045B62D6/00
Inventor 李绍松王国栋张邦成于志新崔高健卢晓辉高嵩韩玲李政
Owner CHANGCHUN UNIV OF TECH
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