基于模型预测控制的轮毂电机驱动车辆防侧翻控制

针对8×8轮毂电机驱动车辆侧翻稳定性问题，提出基于模型预测控制的主动防侧翻控制策略。采用分层控制结构设计车轮转角和电机转矩的分配控制策略，以充分发挥研究对象各轮转矩、转角独立可控的特点开展稳定性控制；基于模型预测控制方法设计主动防侧翻控制策略，并简化滚动优化算法，使运算量降低以保证实时性；通过重型车辆模拟分析软件Trucksim与数学仿真软件MATLAB/Simulink联合仿真实验以及比例模型车辆试验进行验证。结果表明，通过所提分层控制策略与基于模型预测控制的主动防侧翻控制策略，车辆可以避免侧翻失稳，能够准确跟踪驾驶员期望的行驶轨迹。

Rollover Prevention Control for In-wheel Motor Drive Vehicle Based on Model Prediction Control

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.