Intelligent automobile decoupling prediction controller based on model dynamic reconstruction and control method

A predictive controller and smart car technology, applied in non-electric variable control, two-dimensional position/navigation control, vehicle position/route/altitude control, etc. It is difficult to take into account the rapid response characteristics of occupant safety and comfort and other issues

Active Publication Date: 2020-01-14
JIANGSU UNIV
View PDF5 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional control algorithm has not been well coordinated to solve the parameter change, variable coupling, control time delay and nonlinear problems in the control process for the time being. Simplified linear models are often used in simulation or testing to avoid or ignore parameter changes in the actual process. , control time lag and variable coupling characteristics, resulting in the control parameters that work well at low and medium vehicle speeds, the control effect is often not ideal at high vehicle speeds, and the control parameters that are suitable for serpentine paths may not be suitable for double shift lines. Difficult to take into account indicators such as quick response characteristics and occupant safety and comfort

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Intelligent automobile decoupling prediction controller based on model dynamic reconstruction and control method
  • Intelligent automobile decoupling prediction controller based on model dynamic reconstruction and control method
  • Intelligent automobile decoupling prediction controller based on model dynamic reconstruction and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0056] Describe in detail below in conjunction with accompanying drawing of the present invention.

[0057] Such as figure 1 As shown, the original model of the smart car is simplified and equivalent, and the original model of the smart car is a three-degree-of-freedom coupled nonlinear model The original model of the smart car includes the following parameters: the distance from the front wheel to the center of mass a, the distance from the rear wheel to the center of mass b, and the cornering stiffness of the front wheel k 1 , rear wheel cornering stiffness k 2 , front wheel longitudinal stiffness c 1 , rear wheel longitudinal stiffness c 2 , car mass m, moment of inertia I z , longitudinal velocity u, lateral velocity v, yaw angular velocity ω r , front wheel angle δ, tire longitudinal slip rate λ; input variables are tire longitudinal slip rate λ, front wheel angle δ, control variables are longitudinal velocity u, lateral velocity v, yaw angular velocity ω r , the o...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an intelligent automobile decoupling prediction controller based on model dynamic reconstruction and a control method. Firstly, a three-degree-of-freedom coupling nonlinear original model of an intelligent automobile is established on the basis of intelligently sensing the external environment and self parameters of the vehicle, two right inverse models of the intelligent automobile are constructed, the two right inverse models alternately learn and evolve, one right inverse model which does not execute the learning evolution function is placed on the left side of the original model, dynamic reconstruction is carried out on the intelligent automobile model so as to realize dynamic decoupling and simplified control on the model, then a model prediction controller isrespectively designed according to each sub-model in a new model obtained by reconstruction and control requirement characteristics, the decoupling prediction control of the intelligent automobile based on model dynamic reconstruction is realized, and the control performance and the intelligent level of the intelligent automobile are improved. According to the invention, the dynamic inverse modeland the model prediction control method are used in combination, the reconstructed normalized new model is used for reasonably designing the model prediction controller, and the control performance ofthe intelligent automobile is improved.

Description

technical field [0001] The invention relates to the field of smart car control, in particular to a decoupling predictive controller for smart cars based on model dynamic reconstruction and a control method thereof. Background technique [0002] Smart cars are high-tech products based on environmental perception technology, smart driving technology, wireless communication technology and computer technology. The process of transformation and upgrading of the automobile industry will be the process of gradually realizing intelligent cars. Automobiles under intelligent operation will take safety, environmental protection, energy saving, and comfort as comprehensive control goals, and jointly build an efficient and orderly transportation network. [0003] Modern society has higher and higher requirements for the quality of life, and it is hoped that smart cars can have excellent comprehensive control performance. The dynamic model of the vehicle is a strongly coupled nonlinear t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0278G05D1/0276G05D2201/0213
Inventor 蔡英凤滕成龙陈龙孙晓强邹凯孙晓东王海
Owner JIANGSU UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products