输出解耦型GPC在车辆横向控制中的应用Application of Output-Decoupling GPC in Lateral Control of Vehicle
郭红戈,任贝,郤伟,张春美
摘要(Abstract)：
为了解决输出变量间存在相互耦合的车辆横向控制问题，提出了一种输出解耦型广义预测控制器。鉴于车辆动力学模型输出耦合的特性，首先对广义预测控制器的CARIMA模型进行改进，将输出矩阵系数拆分成对角阵和反对角矩阵的形式。然后引入Diophantine方程，严格推导性能指标中控制量的表达式。最后令控制量表达式中表征耦合的项为零，从而实现对耦合输出量进行解耦。以车辆对双移线参考路径跟踪能力为仿真研究对象，对比PID控制、广义预测控制和输出解耦型广义预测控制的控制效果表明，在低速时三种控制方法对车辆轨迹跟踪控制效果相当，在中高速时输出解耦型广义预测控制具有更好的跟踪能力，从而验证了输出解耦型广义预测控制器的有效性。
关键词(KeyWords)： 车辆动力学;横向控制;广义预测控制;输出解耦
基金项目(Foundation): 国家自然科学基金(61603266);; 山西省自然科学基金(201801D121128)
作者(Author): 郭红戈,任贝,郤伟,张春美
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