某轻型车主动转向与主动制动多变量鲁棒集成控制研究

发布时间：2018-08-08 21:31

【摘要】：汽车的安全性问题越来越受到重视,主动安全系统变得多样化和复杂化。在现今的汽车底盘设计中,各种各样的子系统被安装进来以实现某一些特定的功能。但是,汽车底盘的每一个子系统之间无论是在运动关系、力学关系还是机构方面都存在着重叠和耦合。它们在实际工作中相互影响,严重影响了各自的性能和车辆的稳定性。因此,对汽车底盘各个系统的集成控制的重要性就凸显出来。集成控制能够有效的解除各个子系统之间的耦合,降低子系统之间的相互干扰。得出比各个子系统单独工作更加良好的控制效果,提升车辆行驶的稳定性。本文针对某轻型车的主动制动系统和主动转向系统进行了研究,设计一个协调两个系统工作的多变量集成控制器。研究了鲁棒控制策略在主动制动与主动转向集成控制上的应用。本文主要工作如下:(1)确定主动转向与主动制动多变量鲁棒控制器的结构以及设计流程,完成了基于H∞鲁棒控制理论鲁棒控制器的设计理论及使用线性不等式的方法求解H∞鲁棒控制问题的理论推导。(2)对车辆模型进行简化和假设,确立汽车线性二自由度模型、轮胎模型和主动转向模型。建立车辆辅助计算模块。根据车辆状态方程完成某轻型车主动转向与主动制动多变量集成鲁棒控制器的设计。根据控制要求得出车辆控制的理想质心侧偏角和横摆角速度。并利用Matlab/Smulink和Car Sim搭建仿真试验平台。(3)选取典型工况:单移线工况、正弦延时工况、鱼钩工况和锯齿波延时工况。利用仿真试验平台对所设计的某轻型车主动转向与主动制动多变量鲁棒控制器在各个工况下进行仿真验证。根据质心侧偏角和横摆角速度仿真结果曲线分析控制器的效果。
[Abstract]:More and more attention has been paid to the safety of automobiles. Active safety systems have become diversified and complex. In the current automotive chassis design, various subsystems are installed to achieve some specific functions. However, there is no argument between each subsystem of the chassis in motion relations, mechanical relations or institutional parties. There are overlaps and coupling in all surfaces. They affect each other in actual work, seriously affecting their performance and vehicle stability. Therefore, the importance of integrated control for each system of the vehicle chassis is highlighted. Integrated control can effectively remove the coupling between the subsystems and reduce the interference between the subsystems. In this paper, the active braking system and the active steering system of a light vehicle are studied and a multivariable integrated controller is designed to coordinate the work of two systems. The robust control strategy is studied in the active braking and active steering. Application of integrated control. The main work of this paper is as follows: (1) determine the structure and design flow of the active and active braking multivariable robust controller, complete the design theory of robust controller based on H infinity robust control theory and the theoretical derivation of H robust control problem using linear inequality method. (2) the vehicle model The model of automobile linear two degree of freedom, the tire model and the active steering model are established. The vehicle auxiliary calculation module is set up. The design of the active steering and active brake multivariable integrated robust controller for a light vehicle is designed according to the vehicle state equation. The ideal centroid side angle and the ideal center angle of vehicle control are obtained. The simulation test platform is built with Matlab/Smulink and Car Sim. (3) select typical working conditions: single line working condition, sinusoidal delay condition, fishhook working condition and sawtooth time delay condition. Using simulation test platform, the active steering and active control multi variable robust controller of a light vehicle is simulated under various working conditions. True verification. According to the simulation results curve of the sideslip angle and yaw rate, the effect of the controller is analyzed.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463

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