基于模型预测控制的轮毂电机驱动车辆防侧翻控制

An active anti-rollover control strategy based on the model predictive control is proposed for the rollover stability of 8×8 in-wheel motor drive vehicle. In order to make full use of the independent controllable characteristics of the torque and turning angle of each wheel, a hierarchical control structure is used to design a control strategy for the distribution of wheel angle and motor torque, and then design an active anti-rollover control strategy based on the model predictive control. And the rolling optimization algorithm is simplified to reduce the amount of calculation to ensure real-time performance. Through MATLAB/Simulink and Trucksim co-simulation and proportional model vehicle test, it is shown that the vehicle rollover instability can be avoided and the driver's desired travel trajectory can be tracked as well by using the proposed hierarchical control strategy and the active anti-rollover control strategy based on the model predictive control.