论文标题
车辆动力控制的双环方法
The Twin-in-the-Loop approach for vehicle dynamics control
论文作者
论文摘要
在车辆动力控制中，工程合适的调节器是一个漫长而昂贵的过程。起点通常是基于简单的面向控制模型的名义控制器的设计及其对成熟模拟器的测试。然后，在线末端（EOL）调整阶段需要许多开车时间来校准物理车辆的控制器。鉴于最新的技术进步，在本文中，我们考虑了可以在电子控制单元中运行模拟器的开拓视角，以实时计算标称控制动作。通过这种方式，可以证明，在EOL阶段，我们只需要调整预期输出和所测量输出之间的不匹配的简单补偿器即可。最终的方法不仅利用已经可用的模拟器和名义控制器，而且显着简化了设计过程，而且在在有挑战性的主动制动控制案例研究中跟踪准确性和鲁棒性方面，在跟踪准确性和鲁棒性方面也优于最先进的过程。
In vehicle dynamics control, engineering a suitable regulator is a long and costly process. The starting point is usually the design of a nominal controller based on a simple control-oriented model and its testing on a full-fledged simulator. Then, many driving hours are required during the End-of-Line (EoL) tuning phase to calibrate the controller for the physical vehicle. Given the recent technological advances, in this paper we consider the pioneering perspective where the simulator can be run on-board in the electronic control unit, so as to calculate the nominal control action in real-time. In this way, it can be shown that, in the EoL phase, we only need to tune a simple compensator of the mismatch between the expected and the measured outputs. The resulting approach not only exploits the already available simulator and nominal controller and significantly simplifies the design process, but also outperforms the state-of-the-art in terms of tracking accuracy and robustness within a challenging active braking control case study.
