基于MPC与EKF算法的电动汽车状态估计与横向稳定性控制.PDF

ISSN 1674-8484 汽车安全与节能学报, 第8 卷 第3 期, 2017 年 09/ 13 CN 11-5904/U J Automotive Safety and Energy, Vol. 8 No. 3, 2017 287 —295 基于MPC与EKF算法的电动汽车状态估计与横向稳定性控制 邓  涛，罗俊林，汪明明 （重庆交通大学，机电与车辆工程学院，重庆400074 ，中国） 摘  要： 为对电动汽车状态进行精确估计，提高车辆的安全性能，建立了车辆横向稳定性预测控制模 型。采用模型预测控制算法（MPC），基于双轨二自由度整车模型，选取整车质心侧偏角、横摆角速 度及轮胎滑移率作为状态变量，四轮分配扭矩作为控制变量。考虑驾驶员操作负荷和转向与驱/ 制动 的平滑性，建立模型代价函数。设计扩展Kalman 滤波器(EKF) 预估和评价车辆当前状态，并利用 二次规划(QP) 算法进行滚动时域优化求解，得到4 个车轮的最优扭矩。搭建Simulink 和Carsim 联合仿真平台，选取转向盘正弦输入工况，分别对高低附着路面进行仿真分析。结果表明：该预测控 制模型能够有效保持车辆的横向稳定性。 关键词： 电动汽车；横向稳定性控制；联合仿真；模型预测控制（MPC）；扩展Kalman 滤波器（EKF ） U469.72+2 A 10.3969/j .issn.1674-8484.2017.03.009 中图分类号：        文献标识码：       DOI：  State estimation and lateral stability control for electric vehicles based on EKF and MPC algorithm DENG Tao, LUO Junlin, WANG Mingming (School of Mechatronics Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China) Abstract: The model predictive control (MPC) algorithm was used to establish the predictive control model of vehicle lateral stability to estimate the electric vehicle state accurately and improve the safety performance of vehicle, based on two degrees of freedom model. The vehicle sideslip angle, yaw angular and tire slip ratio were selected as state variables and the four-wheel torque distribution was treated as control variables. Considering the drivers operation load and the smooth of steering and driving/braking operations, the cost function of model was built. The extended Kalman filtering (EKF) estimator was designed to estimate and evaluate the current