Interacting multiple model-based yaw stability control for distributed drive electric vehicle via adaptive model predictive control algorithm

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-07-31 DOI:10.1177/09596518241263537

Taiyou Liu, Xiaowei Wang, Guang Li, Wenfeng Li, Zhengchao Xie, Pak Kin Wong, Jing Zhao

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引用次数: 0

Abstract

The vehicle lateral stability control is a challenging problem due to the tire nonlinearity and the immeasurable sideslip angle. Thus, an adaptive model predictive control (AMPC) scheme based on interacting multiple model (IMM) vehicle sideslip angle observer is proposed in this paper. First, the observer is composed of the Extended Kalman filter (EKF) and the Unscented Kalman filter (UKF), which improves the real-time performance as well as the observation accuracy. Then, a multi-objective controller based on adaptive vehicle model prediction is designed using model predictive control algorithm. This controller aims to achieve a balance between the actuation and state constraints. The T-S fuzzy algorithm is used to observe the tire cornering stiffness and design an adaptive vehicle model. By utilizing the appropriate objective function and a quadratic programing solver, the controller output is obtained to achieve vehicle stability control. Finally, the effectiveness of the designed AMPC scheme under various working conditions is verified by Carsim-Simulink joint simulation platform and hardware-in-the-loop (HIL) test.

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通过自适应模型预测控制算法为分布式驱动电动汽车实现基于多个模型的交互式偏航稳定性控制

由于轮胎的非线性和不可测量的侧倾角，车辆横向稳定性控制是一个具有挑战性的问题。因此，本文提出了一种基于交互多模型（IMM）车辆侧倾角观测器的自适应模型预测控制（AMPC）方案。首先，观测器由扩展卡尔曼滤波器（EKF）和无标点卡尔曼滤波器（UKF）组成，提高了实时性和观测精度。然后，利用模型预测控制算法设计了基于自适应车辆模型预测的多目标控制器。该控制器的目标是实现驱动和状态约束之间的平衡。采用 T-S 模糊算法观测轮胎转弯刚度并设计自适应车辆模型。通过利用适当的目标函数和二次编程求解器，获得控制器输出，从而实现车辆稳定性控制。最后，通过 Carsim-Simulink 联合仿真平台和硬件在环（HIL）测试，验证了所设计的 AMPC 方案在各种工况下的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.