针对轮毂驱动电动车非簧载质量增大而引起的行驶平顺性和操纵稳定性恶化问题，提出了基于显式模型预测控制（EMPC）理论的主动悬架控制方法。建立由刚性环轮胎模型和空气悬架模型组成的四自由度系统模型，并确定车辆平顺性、稳定性和电机性能多目标函数及约束条件；基于多参数二次规划理论，将隐式模型预测控制系统转换为与之对应的显式多面体分段仿射（PPWA）系统，离线求解状态变量间的最优控制律，并运用参数分区上的显式控制律求得最优主动力。仿真结果表明：相较于被动悬架和运用天棚控制策略的主动悬架，基于EMPC理论控制的主动悬架对车身垂向加速度、轮胎动载荷和轮毂电机偏心距均方根值提升效果明显，改善了轮毂电机驱动电动车的行驶平顺性、操纵稳定性和电机性能。
Abstract
Aiming at solving the deterioration of ride comfort and operation stability caused by the increase of unsprung mass of hub motor driving electric vehicle, an active suspension control method based on explicit model predictive control (EMPC) theory was proposed. A four-degree-of-freedom system model consisting of a rigid ring tire model and an air suspension model was established. Multi-objective functions and constraint conditions for vehicle ride comfort, stability and motor performance were determined. Based on the multi-parametric quadratic programming theory, the implicit model predictive control system was converted into the corresponding explicit polyhedral piece-wise affine (PPWA) system, the optimal control law between state variables was solved off-line, and used the explicit control law on the parameter partition to obtain the optimal main force. The simulation result shows that the proposed suspension system based on explicit model predictive control has a significant effect on the RMS value of the vehicle body vertical acceleration, tire dynamic load and hub motor eccentricity compared with passive suspension and active suspension using sky-hook control strategy. The proposed method improves the ride comfort, operation stability and motor performance of the hub motor driving electric vehicle.
关键词
主动悬架 /
显式模型预测控制 /
多参数二次规划 /
多面体分段仿射
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Key words
active suspension /
explicit model predictive control /
multi-parametric quadratic programming /
polyhedral piece-wise affine
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