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Adaptive Adjustment Method of Vehicle 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. It can solve the problems of poor control effect of AFS system and inability to reflect the nonlinear dynamic characteristics of automobiles.

Inactive Publication Date: 2020-09-18
CHANGCHUN UNIV OF TECH
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  • Abstract
  • Description
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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 Vehicle Active Front Wheel Steering Based on Model Predictive Control
  • Adaptive Adjustment Method of Vehicle Active Front Wheel Steering Based on Model Predictive Control
  • Adaptive Adjustment Method of Vehicle 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 accompanying drawings and embodiments.

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

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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 for active front wheel steering of automobiles based on model predictive control. Background technique: [0002] As people pay more and more attention to the safety of automobiles, the active safety system of automobiles has been developed rapidly, among which the active front steering (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, the model predictive control can better deal with multi-objective tasks and system constraints, and can be used in vehicle stability. The field of sexual control has been widely used. [0003] According to different prediction models and optimization methods used...

Claims

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Application Information

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Patent Type & Authority Patents(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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