基于μ综合鲁棒控制的四轮转向车辆操纵稳定性研究  

Handling Stability for Four-wheel Steering Vehicle Based on μ Synthesis Robust Control

作　　者：殷国栋[1] 陈南[1] 李普[1] 

机构地区：[1]东南大学机械工程系,南京210096

出　　处：《中国工程科学》2005年第4期54-58,共5页Strategic Study of CAE

基　　金：Ford -NSFC福特 -中国研究与发展基金;国家自然科学基金资助项目 (5 0 12 2 15 3 ) ;江苏省"十五"科技攻关资助项目 (BE2 0 0 3 0 13 )

摘　　要：车辆总是承担不同的载荷,车辆建模亦存在着误差,传统四轮转向控制器难以达到原有的性能指标;针对外界干扰,采用μ综合鲁棒控制方法,构造横摆角速度跟踪综合控制系统设计框架,选取了不同环节的权函数。仿真结果表明,四轮转向车辆控制系统具有良好的动态性能、鲁棒稳定性和鲁棒性能,有效地提高了车辆操纵稳定性和安全性。The vehicles always undertake different loadings including externa l disturbances and the design of vehicle control system has model errors.The prim ary design techniques for 4WS controller are their inability to degrade the perf ormance of closed-loop systems. The design of yaw rate tracking control system a rchitecture by using μ synthesis robust control is presented and the weight ing f unctions are selected. The results show that the control system has fine dynamic characteristic, robust stability and robust performance, and the 4WS vehicle wi th the proposed control strategy can provide greater maneuverability and driving safety.

关 键 词：四轮转向 鲁棒控制 操纵稳定性 Μ综合 

分 类 号：U461.6[机械工程—车辆工程]