论文标题
通过集成的主动前轮转向和单独制动，模型预测车辆偏航稳定性控制
Model Predictive Vehicle Yaw Stability Control via Integrated Active Front Wheel Steering and Individual Braking
论文作者
论文摘要
车辆稳定控制系统是用于道路运输的主动安全系统的重要组成部分。在本文中使用主动前轮转向和单独制动解决了车辆横向稳定性控制的问题。车辆横向稳定性控制意味着保持车辆偏航速率和车辆侧面滑动角度所需值。因此，设计了一个基于模型的控制器。所需的偏航速率是从单个轨道车辆模型中获得的，并且选择所需的侧面滑动角为零。控制器设计由下部和上部控制器零件组成。上控制器是基于模型预测控制（MPC）方法设计的。该上部控制器使用逐线系统更改前轮转向角，并且还会生成所需的控制力矩，以稳定车辆的偏航运动。下控制器是单独的制动算法。它决定了单独的制动轮。这样，可以将控制力矩应用于车辆。使用非线性单轨车辆模型和较高的保真度汽车制造商车辆模型对设计的控制器进行了测试。
Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking. Vehicle lateral stability control means keeping the vehicle yaw rate and the vehicle side slip angle in desired values. For this reason, a model-based controller is designed. The desired yaw rate is obtained from the single track vehicle model and the desired side slip angle is chosen as zero. Controller design consists of two parts, lower and upper controller parts. Upper controller is designed based on Model Predictive Control (MPC) method. This upper controller changes front wheel steering angles utilizing steer-by-wire system and also it generates the required control moment for stabilizing the yaw motion of the vehicle. Lower controller is an individual braking algorithm. It determines the individual braking wheel. In this way, the control moment can be applied to the vehicle. The designed controller is tested using the nonlinear single track vehicle model and the higher fidelity CarMaker vehicle model.
