EPS动力学状态空间建模及H_∞控制鲁棒性设计仿真  

Dynamic Model and H_∞ Controller Robust Design and Simulation for EPS System based on State Space

作　　者：田大庆[1] 殷国富[1] 

机构地区：[1]四川大学制造学院,四川成都610065

出　　处：《四川大学学报（工程科学版）》2005年第2期125-128,共4页Journal of Sichuan University (Engineering Science Edition)

基　　金：四川省科技厅重点攻关项目基金资助(03GG008 001)

摘　　要：针对EPS系统是一种非线性的MIMO系统,采用鲁棒控制方法来设计其控制器。在考虑了非线性影响因素的基础上,建立了EPS系统的状态方程,按照控制目标约束策略讨论给出了控制目标H2函数。并基于不确定性分析推广到广义对象模型并描述为标准H∞问题求解。采用H∞方法来优化各种干扰带来的不确定性影响。并基于Riccati方程给出了控制器设计。最后进行仿真实验验证理论分析。模拟仿真结果表明鲁棒性设计提高了EPS系统的性能。As a typical nonlinear MIMO system, electric power steering (EPS) system is researched. The robust control method is used to design its controller. Based on the uncertainty analysis of EPS system, the state space matrixes of EPS are determined. Then, the controller's aim functions are discussed and its H2 description is proposed. Further more, in order to consider the factor of disturbances, the state matrixes are extended to general controlled plant so that it includes evaluate function and feedback function. Finally, the H∞ method is introduced to minimize the effect of disturbances acting on system. The detailed design of controller based on Riccati functions is given and the simulation results justify that the robust controller improves the performance of EPS.

关 键 词：EPS系统 模型 鲁棒性 H∞设计 

分 类 号：TH123[机械工程—机械设计及理论]