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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part D. Journal of Automobile Engineering >Multi-parametric model predictive control for autonomous steering using an electric power steering system
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Multi-parametric model predictive control for autonomous steering using an electric power steering system

机译：使用电动转向系统自主转向的多参数模型预测控制

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摘要

Electric power steering systems have been used to generate assist torque for driver comfort. This study makes use of the functionality of electric power steering systems for autonomous steering control without driver torque. A column-type electric power steering test bench, equipped with a brushless DC motor as an assist motor, and the Infineon TriCore AURIX TC 277 microcontroller was used in this study. Multi-parametric model predictive control is based on a model predictive control-based approach that employs a multi-parametric quadratic programming technique. This technique allows the reduction of the huge computational burden resulting from the online optimization in model predictive control. The proposed controller obtains an optimal input based on multi-parametric quadratic programming at each sampling time. The weighting matrix definition, which is the main task when designing the proposed controller, was analyzed. The experimental results of the step response of the steering wheel angle verified the tracking ability of the proposed controller for different ranges of the prediction horizon. Since the computational loads are directly related to functional safety, the results of this study support the use of the multi-parametric model predictive control scheme as an effective control method for autonomous steering control.
机译：电动转向系统已被用来为驾驶员舒适产生辅助扭矩。该研究利用了电动转向系统的功能，用于无驾驶员扭矩的自主转向控制。在本研究中使用了一个柱式电动转向试验台，配备有无刷直流电动机的无刷直流电机，并且在本研究中使用了英飞凌三人AURIX TC 277微控制器。多参数模型预测控制基于模型预测控制的方法，该方法采用多参数二次编程技术。该技术允许降低模型预测控制中的在线优化所产生的巨大计算负担。所提出的控制器基于每个采样时间的多参数二次编程获得最佳输入。分析了在设计所提出的控制器时的主要任务的加权矩阵定义。方向盘角度的阶梯响应的实验结果验证了所提出的控制器的跟踪能力，用于不同范围的预测地平线。由于计算负载与功能安全直接相关，因此该研究的结果支持使用多参数模型预测控制方案作为自主转向控制的有效控制方法。

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