Real-Time Capable Nonlinear Model Predictive Wheel Slip Control for Combined Driving and Cornering

被引：0

作者：

Metzler, Mathias ^{[1
]}

Scamarcio, Alessandro ^{[1
]}

Gruber, Patrick ^{[1
]}

Sorniotti, Aldo ^{[1
]}

机构：

[1] Univ Surrey, Guildford GU2 7XH, Surrey, England

来源：

ADVANCES IN DYNAMICS OF VEHICLES ON ROADS AND TRACKS, IAVSD 2019 | 2020年

基金：

英国工程与自然科学研究理事会;

关键词：

Model predictive control; Traction control; Combined slip; Cornering response; Explicit solution; TRACTION; SYSTEM;

D O I：

10.1007/978-3-030-38077-9_168

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a traction controller for combined driving and cornering conditions, based on explicit nonlinear model predictive control. The prediction model includes a nonlinear tire force model using a simplified version of the Pacejka Magic Formula, incorporating the effect of combined longitudinal and lateral slips. Simulations of a front-wheel-drive electric vehicle with multiple motors highlight the benefits of the proposed formulation with respect to a controller with a tire model for pure longitudinal slip. Objective performance indicators provide a performance assessment in traction control scenarios.

引用

页码：1466 / 1473

页数：8

共 8 条

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