杨建森,李飞,丁海涛,郭孔辉,郝宝青.基于广义预测控制的汽车横摆稳定性控制[J].农业机械学报,2012,43(1):1-5,36.
Yang Jiansen,Li Fei,Ding Haitao,Guo Konghui,Hao Baoqing.Vehicle Yaw Stability Control Based on Generalized Predictive Control[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(1):1-5,36.
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基于广义预测控制的汽车横摆稳定性控制   [下载全文]
Vehicle Yaw Stability Control Based on Generalized Predictive Control   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2012.01.001
中文关键词:  汽车  主动安全  横摆稳定性控制  广义预测控制
基金项目:国家高技术研究发展计划(863计划)资助项目(2006AA110103);国家重点基础研究发展计划(973计划)资助项目(2011CB711205)
作者单位
杨建森 吉林大学 
李飞 中国汽车技术研究中心 
丁海涛 吉林大学 
郭孔辉 吉林大学 
郝宝青 泛亚汽车技术中心有限公司 
中文摘要:汽车在紧急避障操纵时容易丧失稳定性,通过四轮差动制动的方式对汽车施加附加横摆力矩可以实现汽车的横摆稳定性控制。由于汽车动力学模型的非线性以及参数和环境的不确定性,使用最优控制方法决策的附加横摆力矩在实际中往往无法保持最优。由此提出广义预测控制(GPC)方法决策附加横摆力矩。建立了七自由度非线性车辆模型作为预测模型,并通过实车试验对其精度进行了验证。通过Simulink/Carsim环境中的虚拟试验对GPC方法的控制效果进行了验证,结果表明GPC方法比LQR方法能更有效地提高汽车的主动安全性。
Yang Jiansen  Li Fei  Ding Haitao  Guo Konghui  Hao Baoqing
Jilin University;Automotive Technology & Research Center;Jilin University;Jilin University;Pan Asia Technical Automotive Center Co., Ltd.
Key Words:Vehicle  Active safety  Yaw stability control  Generalized predictive control
Abstract:The vehicle easily loses yaw stability in the emergency obstacle avoidance manoeuvre, and the vehicle yaw stability control can be accomplished by applying the vehicle additional yaw moment by means of four wheels differential braking. As the vehicle dynamic model is nonlinear and its parameters and environment is uncertainty, the vehicle additional yaw moment decided by the optimal control is always unable to maintain optimal in reality. The generalized predictive control (GPC) method was proposed for deciding the vehicle additional yaw moment. The nonlinear 7-DOF vehicle model was built as the predictive model, and its accuracy was verified by vehicle tests. The control performances of GPC method were verified by virtual tests in the Simulink/Carsim, test results showed that the GPC method was more effective than the LQR method in improving the vehicle active safety. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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