Vehicle-mounted application-oriented model prediction control rapid solving method

Abstract

The invention discloses a vehicle-mounted application-oriented model prediction control rapid solving method. The method comprises the following steps of building a high-fidelity vehicle model; establishing a vehicle model for describing yawing motion and lateral motion of the vehicle; establishing a reference model, and generating reference values of the yaw velocity and the side slip angle according to the current vehicle speed and the front wheel rotation angle of the vehicle; describing a model prediction control problem as a typical nonlinear optimization problem according to the established vehicle model and the control requirement; for the nonlinear optimization problem, based on a Poincare minimum principle and a Nelder-Mead algorithm, performing rapid solving of the nonlinear optimization problem; and according to the optimal control input calculated by the model prediction controller, respectively calculating additional torques of the four tires , and distributing the additional torques to the four hub motors. According to the method, on the premise that the solving precision is guaranteed, the solving speed can be greatly increased, and the real-time performance of the controller is improved.

Description

technical field [0001] The invention relates to a fast solution method for nonlinear optimization problems in model predictive control oriented to vehicle applications, in particular to a fast solution method using vehicle dynamics characteristics, Pontryagin minimum principle (PMP) and Nelder-Mead algorithm, etc. A method for solving nonlinear optimization problems, referred to as NM-PMP. Background technique [0002] Model predictive control is a control method based on the model of the controlled object, which is an online calculation and rolling optimization. Model predictive control optimizes the system based on the current feedback information and the model of the system object. Since the system model is considered, the corresponding constraints of the system can be considered in the model predictive control, and multi-objective optimization for the system can also be realized Wait. Because model predictive control has the above-mentioned characteristics and advantag...

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Problems solved by technology

[0006] The present invention is mainly aimed at model predictive control for vehicle applications. Since the vehicle system is a nonlinear system, when the system prediction time domain is long, the nonlinear optimization problem described is relatively complicated, which will increase the solution time, and the vehicle control The controller may not be able to meet the real-time requirements of the vehicle; and for the consideration of cost control and power consumption reduction, the computing power of the on-board controller is limited

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