基于模型预测控制的电动车辆队列控制研究

针对车辆队列建模时参数不确定导致控制存在误差的问题,以及队列中跟随车辆稳定性问题,分析车辆纵向动力学,设计一个鲁棒MPC控制器和滑移率控制器来提高队列车辆的控制精度和稳定性.首先对纵向MPC控制器进行改进,提高车辆队列控制精度；同时为防止跟随车辆的轮胎打滑,设计一个MPC滑移率控制器对跟随车辆的轮胎滑移率进行控制约束,保证了跟随车辆的纵向稳定性.最后,进行仿真实验验证其有效性.仿真实验结果表明,与传统的LQR、MPC控制器相比,改进的鲁棒MPC纵向控制器控制精度更高,同时MPC滑移率控制器可防止跟随车辆的轮胎打滑,保证了跟随车辆的纵向稳定性.

Longitudinal Platoon Control of Electric Vehicle Based on Model Predictive Control

In view of the problems of control error caused by parameter uncertainty in vehicle platoon modeling and the stability of the following vehicles in vehicle platoon, a robust MPC controller and a slip rate controller are designed to improve the control accuracy and stability of the following vehicles in vehicle platoon. Firstly, the longitudinal MPC controller is presented to improve the vehicle platoon control accuracy. At the same time, in order to prevent the tire slip of the following vehicles, a MPC slip rate controller is designed to control the tire slip rate of the following vehicle, which ensures the longitudinal stability of the following vehicle. Finally, simulation experiments are carried out to verify its effectiveness. The simulation results show that compared with the traditional LQR and MPC controllers, the improved robust MPC longitudinal controller has higher control accuracy, and the MPC slip rate controller can prevent the tire sliding of the following vehicle, ensuring the longitudinal stability of the following vehicle.