车辆极限工况的谱稳定多专家Koopman动力学建模
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1南京航空航天大学能源与动力学院, 南京 210016;2奇瑞汽车股份有限公司, 芜湖 241007

作者简介:

通讯作者:

赵蕊,女,教授,硕士生导师,E-mail:zhaorui39@nuaa.edu.cn。

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U461

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Spectrally Stable Multi-expert Koopman Dynamics Modeling for Vehicles Under Extreme Conditions
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1College of Energy and Power Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China;2Chery Automobile Co., Ltd., Wuhu 241007, China

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    摘要:

    针对现有数据驱动车辆动力学模型普遍缺乏物理可解释性,限制了其在极限工况下的泛化性能,致使模型易出现拟合失真与长时推演发散的问题,本文构建了一种引入谱稳定性正则化的条件多专家Koopman(Conditional multi-expert Koopman, CME-Koopman)网络。在架构设计上,该网络引入了一种条件感知门控机制,根据车辆实时工况动态调度多个局部线性Koopman专家模型,有效说明了车辆从线性区到非线性饱和区的动力学演化规律。针对多步预测易失稳的缺陷,本文在损失函数中引入了基于幂迭代法的谱稳定性正则项,显式约束Koopman算子特征值的模长,从理论上保证了长时预测的有界性与渐进稳定性。在CarSim高保真仿真平台上的实验表明,该方法在包含40%极限工况的数据集上,长时预测误差均方根误差(Root mean square error, RMSE)较传统深度扩展动态模态分解(Deep extended dynamic mode decomposition,Deep EDMD)方法实现了大幅缩减,并且准确还原了车辆处于失稳临界点时的渐近收敛特征。与模型预测控制器(Model predictive control, MPC)的闭环联合仿真,进一步验证了该模型在极限工况下的工程潜力:其不仅能在纵横向耦合的变工况中实现高精度的轨迹跟踪,更能在路面附着系数骤降(μ-Jump)的极端突变工况下,为控制系统提供精准的预判,展现出卓越的抗发散鲁棒性与极限防侧滑能力。

    Abstract:

    To address the lack of physical interpretability in existing data-driven vehicle dynamics models which limits their generalization performance under extreme handling conditions and makes them susceptible to fitting distortion and long-term prediction divergence, this paper proposes a conditional multi-expert Koopman (CME-Koopman) network incorporating spectral stability regularization. Architecturally, the network introduces a condition-aware gating mechanism that dynamically dispatches multiple local linear Koopman expert models based on real-time vehicle operating conditions, thereby effectively characterizing the dynamic evolution of the vehicle from the linear handling region to the nonlinear saturation region. To mitigate the inherent instability of multi-step predictions, a spectral stability regularization term based on the power iteration method is introduced into the loss function. By explicitly constraining the modulus of the Koopman operator’s eigenvalues, this approach theoretically guarantees the boundedness and asymptotic stability of long-term predictions. Experiments conducted on the CarSim high-fidelity simulation platform demonstrate that, on a dataset containing 40% extreme handling conditions, the proposed method achieves a substantial reduction in long-term prediction error, namely root mean square error (RMSE) compared to the traditional deep extended dynamic mode decomposition (Deep EDMD) baseline. Furthermore, it accurately reproduces the asymptotic convergence characteristics of the vehicle at the critical point of instability. Closed-loop co-simulation with a model predictive controller (MPC) further validates the model’s engineering potential in extreme environments: It not only achieves high-precision trajectory tracking under strongly coupled longitudinal and lateral variable conditions, but also provides precise prediction of dynamics for the control system during sudden drops in road adhesion coefficient (μ-Jump). This demonstrates its outstanding anti-divergence robustness and extreme sideslip prevention capabilities.

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陶奕然,宋廷伦,赵蕊,韩艺铭,崔向.车辆极限工况的谱稳定多专家Koopman动力学建模[J].南京航空航天大学学报,2026,58(3):569-579

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  • 收稿日期:2026-03-01
  • 最后修改日期:2026-04-21
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  • 在线发布日期: 2026-06-18
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