四轮转向车辆控制及其硬件在环仿真开发平台  

Control of four-wheel steer vehicle maneuver and developing platform of hardware-in-loop-simulation

作　　者：陈南[1] 殷国栋[1] 李普[1] 吕红明[1] 

机构地区：[1]东南大学机械工程系,江苏南京210096

出　　处：《江苏大学学报（自然科学版）》2005年第5期384-388,共5页Journal of Jiangsu University：Natural Science Edition

基　　金：Ford-NSFC联合基金资助项目(50122153);江苏省十五科技攻关项目(BE2003013);江苏省首届六大人才高峰计划基金资助项目

摘　　要：研究四轮转向(4WS)车辆操纵控制策略及其控制系统开发.为控制方式执行方便,以横摆角速度反馈为4WS车辆基本控制逻辑.由于实际车辆系统的复杂性,相应4WS控制系统开发需要大量在线实时综合,故利用控制系统的硬件在环仿真技术(HILS).基于Matlab/Simulink/dSPACE开发了4WS车辆控制系统的硬件在环仿真平台.利用此平台硬件在环仿真研究控制算法的鲁棒性并对比不同算法性能,结果表明基于μ综合鲁棒控制方法有比较好的综合性能.The control logic of four-wheel steering （4WS） vehicle and the development of its controller are studied. The yaw-rate feedback is taken as the basic control logic for 4WS vehicle, which is easy to use. Because of the complexity of practical vehicles, large on-line real-time synthesis is required for developing the control system. A special development platform using Hardware-In-Loop-Simulation（HILS） is proved to be effective. A HILS platform based on Matlab/Simulink/dSPACE is developed. With the HILS platform the robustness and other performances for different control arithmetics are compared. The results show that the μ-synthesis robust controller has better general performance.

关 键 词：汽车 四轮转向 μ综合鲁棒控制 在环仿真技术 

分 类 号：U46[机械工程—车辆工程] U461.6[交通运输工程—载运工具运用工程]