四轮独立方向盘系统的同步和跟踪控制策略基于改进的模型预测控制方法
Guan Zhou1, Zihao Fang1, Dejian Li1
1College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
ISA transactions
|July 30, 2025
概括
本研究介绍了一种改进的模型预测控制 (MPC) 策略,用于四轮独立方向盘 (4WIS) 系统. 这种新的方法提高了同步和跟踪性能,这对于汽车智能控制至关重要.
科学领域:
- 汽车工程 汽车工程
- 控制系统理论 控制系统理论
- 机器人技术 机器人技术 机器人技术
背景情况:
- 四轮独立方向盘 (4WIS) 系统提供了更高的灵活性和安全性,与汽车智能控制趋势保持一致.
- 由于多变量和非线性系统动态,在4WIS中实现最佳的同步和跟踪具有挑战性.
- 异步转向和性能下降是当前4WIS控制策略中的关键问题.
研究的目的:
- 为4WIS系统制定一个强大的同步和跟踪控制策略.
- 为了应对4WIS控制中固有的多变量和非线性挑战.
- 提高四轮独立方向盘系统的整体性能和可靠性.
主要方法:
- 为4WIS系统建立了详细的数学模型.
- 设计了一种新的控制策略,将改进的模型预测控制 (MPC) 与乘数器 (ADMM) 的交替方向方法集成在一起.
- 通过全面的模拟验证了拟议的控制策略.
主要成果:
- 拟议的MPC-ADMM战略有效地提高了4WIS系统的同步性能.
- 观察到增强的跟踪性能,减轻四轮异步的问题.
- 模拟结果证实了开发的控制策略优于现有方法的优势.
结论:
- 改进的MPC-ADMM战略为增强4WIS同步和跟踪提供了有效的解决方案.
- 这种方法解决了4WIS控制中的关键挑战,为先进的车辆动态管理铺平了道路.
- 经过验证的战略有助于开发更灵活,更安全和智能控制的车辆.
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