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针对车辆起步过程快速平稳、冲击小,乘坐舒适性的要求,基于先进的模型预测控制(Model Predictive Control,MPC)方法设计了车辆起步控制器,采用有效集方法进行MPC优化问题的求解。同时为了提高MPC的在线求解速度,提出了基于现场可编程门阵列(Field Programmable Gate Array,FPGA)和片上可编程系统(System on a Programmable Chip,SOPC)技术的MPC控制器硬件实现方案。最终在基于FPGA与d SPACE实验平台上完成了实时仿真实验,实现了基于FPGA的车辆起步控制,实验结果表明基于FPGA设计实现的MPC控制器能很好地满足车辆起步控制需求。
In order to meet the requirements of fast and smooth start-up, low impact and ride comfort, the vehicle starting controller is designed based on the advanced model predictive control (MPC) method, and the MPC optimization problem is solved by the effective set method. At the same time, in order to improve the on-line speed of MPC, a hardware implementation of MPC controller based on Field Programmable Gate Array (FPGA) and System on a Programmable Chip (SOPC) technology is proposed. In the end, real-time simulation experiments based on FPGA and d SPACE experimental platform are completed, and FPGA-based vehicle starting control is realized. Experimental results show that the MPC controller based on FPGA design can meet the needs of vehicle starting control.