基于回路成形和μ综合的后轮主动转向鲁棒控制  

Robust Control of Active Rear Wheel Steering with Loop Shaping & μ Synthesis

作　　者：李铂[1] 陈善华[2] 

机构地区：[1]清华大学汽车安全与节能国家重点实验室,北京100084 [2]上海大众汽车有限公司产品工程部,上海201805

出　　处：《汽车工程》2006年第4期370-375,共6页Automotive Engineering

摘　　要：提出一种后轮主动转向鲁棒控制的两阶段综合方法.首先通过基于H∞控制的回路成形的反馈控制器设计,在保证鲁棒稳定性的前提下,使车辆系统在操纵稳定性的主要关注频带（0～1Hz）具有较大的横摆角速度反馈增益,从而实现了对中、高车速下的横摆角速度响应特性的整定.然后再对包含反馈控制器的闭环系统,应用μ综合进行增益与车速成反比的前馈控制器设计,通过使车辆系统在大、小侧向加速度工况和中、高车速下均具有较小的质心侧偏角增益,间接实现对侧向加速度响应特性的整定.A two-phase synthesis method for robust control of active rear wheel steering is presented. First, based on loop shaping technique of H∞ control, the yaw rate feedback controller is synthesized to get enough gain of yaw rate feedback in the frequency band of 0 to 1 Hz under the precondition of ensured robust stability, and hence achieve the desired characteristics of yaw rate response at medium and high speed. Then, for the closed loop system with feedback controller, the feedforward controller, whose gain is inversely proportional to vehicle speed, is designed with u synthesis technique. And finally by making vehicle system have a less gain of side slip angle under various running conditions, the desired characteristics of lateral acceleration response are indirectly realized.

关 键 词：4轮转向 鲁棒控制 回路成形 H∞控制 Μ综合 

分 类 号：U463.42[机械工程—车辆工程]