Model predictive 2DOF PID control for slip suppression of Electric Vehicles
Model predictive 2DOF PID control for slip suppression of Electric Vehicles
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DOI：
10.5220/0004996700120019
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发表时间：
2014-09
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通讯作者：
T. Kawabe
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作者：
T. Kawabe
提出了一种基于模型预测控制的二自由度PID控制器的设计方法。该控制器被称为MP-2DOF PID控制器。该方法在使用2DOF PID控制器结构的同时，通过求解基于MPC算法的优化问题来重复优化每个控制周期的控制参数。通常，2DOF PID控制器可以通过具有前馈元件的预先存在的PID控制器的简单扩展来实现。这意味着我们可以获得更好的性能，而不需要太多的成本。该方法旨在通过控制车轮滑移率来提高电动汽车的操纵性、稳定性和低能耗。数值仿真结果验证了该方法的有效性。
This paper propose the design method of 2DOF (two degrees of freedom) PID (Proportional-Integral-Derivative) controller based on MPC (Model predictive control). This controller is called as MP-2DOF PID controller. The method repeatedly optimizes the control parameters for each control period by solving an optimization problem based on the MPC algorithm, while using the 2DOF PID controller structure. Generally 2DOF PID controller can be implemented by a simple extension of the pre-existing PID controller with feed-forward element. This means we can get better performance without much cost. The proposed method aims to improve the maneuverability, the stability and the low energy consumption of EVs (Electric Vehicles) by controlling the wheel slip ratio. There also include numerical simulation results to demonstrate the effectiveness of the method.