摘要
在智能车辆路径跟踪容错控制领域,基于模型预测控制(MPC)的现有方法存在局限性,常假定车辆模型参数固定,忽视了车辆载荷变化及外部环境干扰等因素导致模型参数动态变化对路径跟踪精度的影响,且在转向系统故障时,MPC计算的前轮转角指令无法直接执行,需转换为横摆力矩控制,而现有滑模横摆力矩控制方法虽鲁棒性强,但因抖振问题影响系统稳定性与执行效果。针对这些问题,该文提出融合基于模型参数在线更新的MPC与自适应滑模控制的路径跟踪容错控制方案,通过在线更新MPC模型参数,提升对车辆动态特性的适应能力,利用自适应滑模控制降低抖振影响,并结合路面附着约束优化驱动力矩分配实现路径跟踪。研究结果表明:所提算法的跟踪精度优于传统MPC算法的,可以实现更精准、更稳定的路径跟踪控制,为智能车辆路径跟踪控制技术发展提供新的思路与方法。
In the field of fault-tolerant control for intelligent vehicle path tracking,the existing methods based on model predictive control(MPC)have limitations.They often assume that the vehicle model parameters are fixed and ignore the impact of dynamic changes in model parameters,which are caused by factors such as vehicle load changes and external environmental interference,on the path tracking accuracy.When the steering system fails,the front wheel steering angle commands calculated by MPC cannot be directly executed and need to be converted into yaw moment control.Although the existing sliding mode yaw moment control methods have strong robustness,the chattering problem affects the stability and execution effect of the control system.To address these issues,this paper proposed a fault-tolerant control scheme for path tracking that integrated MPC with online model parameter updating and adaptive sliding mode control.By updating the MPC model parameters online,the adaptability to the dynamic characteristics of the vehicle was improved.The adaptive sliding mode control was used to reduce the impact of chattering,and the driving torque distribution was optimized in combination with road adhesion constraints to achieve path tracking.The research results show that the tracking accuracy of the proposed algorithm is better than that of the traditional MPC algorithm,and it can achieve more accurate and stable path tracking control,providing new ideas and methods for the development of intelligent vehicle path tracking control technology.
作者
张志国
王普
张兴龙
汪
ZHANG Zhiguo;WANG Pu;ZHANG Xinglong;WANG Yan(School of Mechanical Engineering,Southeast University,Nanjing,Jiangsu 211189,China;China Automotive Technology and Research Center Co.,Ltd.,Tianjin 300300,China;School of Automation,Wuhan University of Technology,Wuhan,Hubei 430070,China;Innovation Research and Development Institute,SAIC Motor Corporation Limited,Shanghai 201805,China;School of Engineering,The Hong Kong Polytechnic University,HongKong 99907,China)
出处
《中外公路》
2025年第3期199-207,共9页
Journal of China & Foreign Highway
基金
国家自然科学基金资助项目(编号:52402482)。
关键词
车辆工程
路面附着约束
智能车辆
路径跟踪
容错控制
自适应滑模控制
MPC
横摆力矩控制
vehicle engineering
road adhesion constraint
intelligent vehicle
path tracking
fault-tolerant control
adaptive sliding mode control
model predictive control
yaw moment control
