基于非线性MPC的电动赛车驱动防滑控制
Acceleration slip regulation of electric racing cars based on nonlinear MPC
吴勃夫 1徐晓 1陈自强 1孙亮 1吴姚烨1
作者信息
- 1. 合肥工业大学汽车与交通工程学院,安徽合肥 230009
- 折叠
摘要
文章采用非线性模型预测控制(model predictive control,MPC)方法实现轮边驱动电动赛车的驱动防滑控制.为了实现电动赛车良好的纵向加速和轮胎抓地性能,将车轮滑移稳定区作为非线性模型预测时域约束,建立轮边电机滑移率控制模型;结合赛车空气动力学套件和轮胎特性,在MATLAB/Simulink软件中建立驱动防滑模型成本函数来平衡目标滑移率、目标扭矩变化率和最大扭矩限制等多个目标;通过CarSim和MATLAB/Simulink的联合仿真并结合半实物在环台架试验验证模型的有效性和可靠性.联合仿真和试验验证结果表明,该文方法可以有效地提升赛车的纵向性能.
Abstract
In this paper,the acceleration slip regulation(ASR)of wheel-driven electric racing cars is implemented using a nonlinear model predictive control(MPC)strategy.In order to achieve optimal longitudinal acceleration and tire grip performance for electric racing cars,the wheel slip stability re-gion is utilized as a temporal constraint within the nonlinear model predictive control framework,and a wheel-side motor slip ratio control model is established.By integrating a racing aerodynamics pack-age and tire characteristics,a cost function for the ASR model is developed in MATLAB/Simulink software to balance multiple objectives,including target slip ratio,target torque rate of change,and maximum torque limitation.Through combined simulations using CarSim and MATLAB/Simulink,as well as semi-physical experiments on a test bench,the effectiveness and reliability of the model are verified.The results of the combined simulations and experimental validations illustrate that the pro-posed approach effectively enhances the longitudinal performance of the racing cars.
关键词
非线性模型预测控制(MPC)/驱动防滑控制/滑移率/电动赛车Key words
nonlinear model predictive control(MPC)/acceleration slip regulation(ASR)/slip rate/e-lectric racing cars引用本文复制引用
基金项目
国家重点研发计划资助项目(2021YFE0116600)
出版年
2024
NETL
NSTL
维普
万方数据