考虑参数不确定性的汽车前轮主动转向输出反馈鲁棒控制

发布时间：2018-01-15 12:31

本文关键词：考虑参数不确定性的汽车前轮主动转向输出反馈鲁棒控制　出处：《东南大学学报(自然科学版)》2016年03期 　论文类型：期刊论文

【摘要】：提出基于静态输出反馈的前轮主动转向(AFS)鲁棒控制器,以提高汽车横摆角速度跟踪性能和横向稳定性.在控制器设计中考虑了车速和轮胎侧偏刚度的不确定性,其中车速在一定范围内变化并且可测,采用多胞型模型来描述车速的不确定性.利用多目标优化与输出反馈鲁棒控制方法,同时提高汽车横摆角速度跟踪性能和横向稳定性.在Matlab/Simulink和Car Sim联合仿真环境中,对紧急转弯和双移线2种典型操纵工况下的控制器进行仿真试验.结果表明,所提出的控制器能够显著改善汽车的横向操纵性能和稳定性,降低驾驶员的工作负荷,且控制器对汽车模型参数的不确定性具有很好的鲁棒性.
[Abstract]:A robust controller based on static output feedback for active front steering (AFS) is proposed. In order to improve the tracking performance and lateral stability of vehicle yaw speed, the uncertainty of vehicle speed and tire lateral stiffness is considered in the controller design, in which the speed varies within a certain range and can be measured. The multi-objective optimization and output feedback robust control method are used to describe the uncertainty of vehicle speed. At the same time, the tracking performance and lateral stability of vehicle yaw speed are improved. In the joint simulation environment of Matlab/Simulink and Car Sim. The simulation results show that the proposed controller can significantly improve the lateral handling performance and stability of the vehicle. The driver's workload is reduced and the controller is robust to the uncertainty of vehicle model parameters.
【作者单位】：东南大学机械工程学院;
【基金】：国家自然科学基金资助项目(51205058;51375086)
【分类号】：U461.6;U463
【正文快照】： 汽车横摆角速度跟踪性能和横向稳定性对汽车安全行驶非常重要,其控制方法是车辆工程领域研究的热点[1].通过对车轮转向角或制动/驱动力矩的主动控制可以完成在临近极限工况下驾驶员难以实现的操纵.虽然制动/驱动力矩的主动控制在极限工况下产生附加横摆力矩的效果最佳,但同时

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