CAJ | 학술논문

汽车的主动前轮转向作为汽车主动控制的一个重要组成部分，可以改善车辆的操纵稳定性；横摆角速度与质心侧偏角作为表征车辆操纵稳定性的2个主要指标，可以作为车辆处于稳定状态的参考。基于模型预测控制方法，在汽车线性二自由度模型的基础上，使用相同工况下理想的横摆角速度与质心侧偏角作为参考，设计了模型预测控制器，将二自由度汽车模型与CarSim整车模型进行了联合仿真。结果表明：模型预测控制方法相对PID控制方法更能有效地提高汽车的主动安全性。
기차적주동전륜전향작위기차주동공제적일개중요조성부분，가이개선차량적조종은정성；횡파각속도여질심측편각작위표정차량조종은정성적2개주요지표，가이작위차량처우은정상태적삼고。기우모형예측공제방법，재기차선성이자유도모형적기출상，사용상동공황하이상적횡파각속도여질심측편각작위삼고，설계료모형예측공제기，장이자유도기차모형여CarSim정차모형진행료연합방진。결과표명：모형예측공제방법상대PID공제방법경능유효지제고기차적주동안전성。
As an important part of automotive active control, the active front steering (AFS) has the abili-ty of improving vehicle’s handling stability.The yaw rate and sideslip angle serve as two main indexes of vehicle’s handling stability and offer reference to the stability of vehicle. Based on the model predictive control (MPC) method a controller was designed for the purpose of yaw rate and sideslip control. By co-simulating the 2-DOF and CarSim vehicle model, the results show the MPC controller is more effective than PID controller to improve the stability and safety of vehicle.