基于DMC预测控制算法的智能四驱车控制器设计与仿真

Design and Simulation of Four-wheel Drive Vehicle Controller Based on Dynamic Matrix Control Algorithm

摘要:

结合动态矩阵算法应用的条件和环境，针对轮式四驱智能车系统进行运动学建模和线性化处理，得到多变量智能车控制系统模型；通过三种不同方法设计MPC控制器，利用MPC的DMC算法实现了对智能车系统的运动控制。分别基于阶跃响应模型和状态空间模型，使用相关命令函数设计智能车系统的控制器，利用MATLAB进行仿真实验，验证了不同参数对阶跃响应性能的影响，并确定最优参数。同时，使用MATLAB的MPC TOOL工具箱完成智能车控制系统的设计。最后，对三种方法的仿真结果进行了分析和比较，进一步验证了DMC算法的可行性。

Abstract:

In this paper, the dynamic matrix control algorithm (DMC) is explained and the conditions and environment of the application of DMC algorithm are clarified. First, the kinematics modeling and linearization of four-wheel drive intelligent vehicle system are made, and then the MPC controller is designed by three different methods. The control of the intelligent vehicle system is realized based on the DMC algorithm of MPC. According to the step response model and the state space model, some command function is applied to the controller design of the four-wheel drive vehicle system. In addition, the simulation experiment in MATLAB is carried out to verify the influence of different parameters on the step response performance, and the optimal parameters are determined. Meanwhile, the intelligent vehicle control system is designed by MPC TOOL toolbox of MATLAB. Finally, the simulation results of the three methods are analyzed and compared to verify the feasibility of the DMC algorithm.