Explicit non-linear model predictive control for vehicle stability control
Explicit non-linear model predictive control for vehicle stability control
复制标题
用于车辆稳定性控制的显式非线性模型预测控制
作者：
M. Metzler;D. Tavernini;A. Sorniotti;P. Gruber
非线性模型预测控制在多项学术研究中被提出作为一种先进的控制系统技术，用于车辆在操纵极限下的运行，具有高跟踪性能并正式考虑系统约束。然而，隐式非线性模型预测控制（NMPC）的实现，其中控制问题在线解决，在计算负载方面提出了重大挑战。这个问题可以通过显式NMPC来克服，其中离线求解优化问题，并且在线评估所得到的具有保证的次优水平的显式解。由于显式解决方案的简单性，即使在低规格的汽车控制硬件平台上也可以实时执行控制器。控制律的显式性质有助于可行性检查和功能安全验证。本研究提出了一种基于显式NMPC的横摆和横向稳定性控制器，通过车辆的电液控制摩擦制动器驱动。控制器的性能证明在正弦与驻留测试模拟高保真模型。分析包括控制系统的隐式和显式实现的比较。
Nonlinear model predictive control is proposed in multiple academic studies as an ad-vanced control system technology for vehicle operation at the limits of handling, allow-ing high tracking performance and formal consideration of system constraints. How-ever, the implementation of implicit nonlinear model predictive control (NMPC), in which the control problem is solved on-line, poses significant challenges in terms of computational load. This issue can be overcome through explicit NMPC, in which the optimization problem is solved off-line, and the resulting explicit solution, with guar-anteed level of sub-optimality, is evaluated on-line. Due to the simplicity of the explicit solution, the real-time execution of the controller is possible even on automotive control hardware platforms with low specifications. The explicit nature of the control law fa-cilitates feasibility checks and functional safety validation. This study presents a yaw and lateral stability controller based on explicit NMPC, actuated through the electro-hydraulically controlled friction brakes of the vehicle. The controller performance is demonstrated during sine-with-dwell tests simulated with a high-fidelity model. The analysis includes a comparison of implicit and explicit implementations of the control system.