Vehicle stability model predictive control method

Abstract

A vehicle stability model predictive control method belongs to the technical field of control. The object of the vehicle stability model predictive control method is to establish a vehicle yaw kineticmodel in consideration of road unevenness and design a yaw stability controller by a model predictive control algorithm so as to prevent an electric vehicle against rollover and drift in a poor working condition and a sharp turn. The method comprises steps of establishing a mechanical and kinetic model and a yaw stability controller of an electric vehicle in consideration of road unevenness. In aprocess of formulating a torque distribution strategy, the method considers vehicle safety (preventing skid or lock, rollover or drift), vehicle performance (acceleration and braking performance), and driving comfort (torque change cannot be too large and the vertical force change value cannot be too high), saves control energy (saving energy under the premise of satisfying performance), and improves the kinetic performance of the vehicle.

Description

technical field [0001] The invention belongs to the technical field of control. Background technique [0002] In recent years, with the increasing environmental pollution and energy crisis, energy conservation and emission reduction has become an important goal in China and even in the world. Due to its advantages of high energy efficiency, low emission, low noise, and energy recovery, electric vehicles have become a major direction for the development of the automotive industry today. The country has also issued a large number of preferential policies to support enterprises in researching electric vehicles. [0003] Electric vehicles driven by in-wheel motors have been a research hotspot in recent years, because the in-wheel motors are directly installed on the wheels, which saves space and can reduce the weight of the car. The driving force of each driving wheel of the four-wheel hub-driven electric vehicle can be directly and independently controlled accurately, making t...

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Problems solved by technology

[0006] 3. Due to the four-wheel drive electric vehicle, the four-wheel torque can be independently distributed, which can improve the dynamic performance of the electric vehicle, but there are certain difficulties in formulating the torque distribution rules, and the uncoordinated torque distribution can easily lead to the dangerous situation of the electric vehicle. working conditions, so the torque distribution of electric vehicles is also an urgent problem to be solved

This is actually a multi-objective complex optimization control problem with constraints

Ordinary traditional algorithms have been difficult to meet the requirements

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