摘要
本文针对智能化全线控电动车辆的轨迹跟踪控制问题,提出一种基于模型预测控制的策略。通过构建包含横向、纵向和横摆动力学的车辆模型,并综合考虑分布式驱动架构下线控转向、线控制动和线控驱动系统的执行器约束,设计以跟踪误差最小化为目标的多目标优化函数。进一步采用改进的内点法进行快速求解,以满足实时控制要求。基于MATLAB/Simulink与CarSim的联合仿真结果表明,该控制方法在直线、曲线和避障等多种场景下均能有效提升跟踪精度和鲁棒性。与传统PID控制相比,横向跟踪误差最大降低53%,且具有良好的抗干扰能力和行驶平稳性。本研究为全线控电动车辆的精确控制提供理论参考和工程应用基础。
This paper proposes a strategy based on model predictive control for the trajectory tracking control problem of intelligent fully line-controlled electric vehicles.By establishing a vehicle model that includes lateral,longitudinal and yaw dynamics,and comprehensively considering the actuator constraints of the distributed drive architecture,including the by-wire steering,by-wire brake and by-wire drive systems,a multi-objective optimization function with the goal of minimizing tracking error is then designed.Subsequently,the improved interior point method is adopted for a rapid solution to meet the real-time control requirements.The joint simulation results based on MATLAB/Simulink and CarSim show that this control method can effectively improve tracking accuracy and robustness in various scenarios such as straight lines,curves,and obstacle avoidance.Compared with the traditional PID control,the lateral tracking error is reduced by up to 53%,and it has good anti-interference ability and driving smoothness.This research provides a theoretical reference and engineering application basis for the precise control of fully by-wire electric vehicles.
作者
郭建宏
Guo Jianhong(Lanzhou Petrochemical Vocational and Technical University,Lanzhou 730060,China)
出处
《汽车电器》
2025年第9期7-9,共3页
Auto Electric Parts
基金
2024年兰州石化职业技术大学科研项目“智能化全线控制电动汽车的自主跟踪控制研究”(2024KY-21)。
关键词
智能
线控
电动汽车
MPC
自主轨迹跟踪
车辆动力学
intelligent
by-wire
electric vehicles
MPC
autonomous trajectory tracking
vehicle dynamics
