基于MPC的滑移转向车辆原地转向控制OA

An in-situ steering control strategy was proposed to meet the in-situ steering demand of dis-tributed electric drive vehicles.Based on the magic formula tire model,the relationships between longi-tudinal and lateral tire forces under combined longitudinal and lateral slip were analyzed,and a vehicle model incorporating trajectory parameters,as well as longitudinal,lateral,and yaw dynamics,was estab-lished.In the upper layer,a model predictive control algorithm was employed to compute the required longitudinal force for each wheel,with constraints imposed to ensure that the resultant longitudinal force and the longitudinal and lateral velocities of the vehicle's center of mass were zero.In the lower layer,the input voltage of the hub motor was controlled based on the PI algorithm.Co-simulation using CarSim and Simulink demonstrates that the proposed strategy can effectively track step and sinusoidal signals of yaw velocity.After the vehicle completes one full revolution,the displacement of the center of mass relative to its initial position is 0.029 m and 0.028 m,respectively.