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| DOI：https://doi.org/10.1007/s11768-019-9119-0 |
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| 基金项目:This work was supported in part by the National Nature Science Foundation of China (Nos. 61790564, U1664257), in part by the National Key RD Program of China (No. 2018YFB0104805), in part by the Funds for Joint Project of Jilin Province and Jilin University (No. SXGJSF2017-2-1-1), and in part by the Funds of the Fundamental Research for the Central Universities. |
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| An MPC-based manoeuvre stability controller for full drive-by-wire vehicles |
| Ping WANG,Ziyang LIU,Qifang LIU,Hong CHEN |
| (The State Key Laboratory of Automotive Simulation and Control, Jilin University, Jilin Changchun 130025, China; Department of Control Science and Engineering, School of Communication Engineering, Jilin University, Changchun Jilin 130025, China;1.The State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun Jilin 130025, China; 2.Department of Control Science and Engineering, School of Communication Engineering, Jilin University, Changchun Jilin 130025, China) |
| Abstract: |
| Aiming at the actuator time delay caused by the drive-by-wire technology, a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles. Firstly, the future vehicle dynamics are predicted by a two-degree-of-freedom vehicle model with input delay. Secondly, in order to prevent the vehicle from destabilizing due to excessive
side slip angles, the determined ideal yaw rate and side slip angle are tracked simultaneously by optimizing the front wheel angle and additional yaw moment. Moreover, in order to improve the trajectory tracking ability, a side slip angle constraint determined by phase plane stability boundaries is added to the cost function. The results of Matlab and veDYNA co-simulation show that the regulated yaw rate can track the reference value well and the side slip angle decreases. Meanwhile, the trajectory tracking ability is improved obviously by compensating the time delay. |
| Key words: Drive-by-wire technology, networked control system, model predictive control, stability control, time delay |
