Aiming at the problem of poor stability and slow response speed of distributed drive mobile chassis during steering,a steering control strategy for mobile robot chassis based on model predictive control(MPC)method is proposed.Based on the 7-DOF dynamics model,the upper controller takes the optimal yaw rate,center of mass sideslip angle and lateral speed as the target,considers multiple constraints,and uses quadratic programming algorithm to solve the resultant torque output by the mobile robot chassis,and converts it into wheel angle for control input.The lower controller will solve the driving force and braking force according to the optimal slip rate.Finally,CarSim and Simulink are used for joint simulation,a real vehicle verification platform is built,and real vehicle experiments are carried out on sine line and double lane change conditions to verify the effectiveness of the steering stability control strategy of distributed drive mobile chassis based on MPC.
关键词
分布式驱动/移动机器人底盘/转向稳定性/模型预测控制
Key words
distributed drive/steering stability/mobile robot chassis/model predictive control
维普
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