4WS车辆μ综合鲁棒主动侧倾操纵性能控制  

Active roll μ synthesis robust control for 4WS vehicle steering performance

作　　者：殷国栋[1] 陈南[1] 

机构地区：[1]东南大学机械工程学院,南京210096

出　　处：《东南大学学报（自然科学版）》2006年第3期384-388,共5页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金资助项目(50575041);Ford-NSFC福特中国研究与发展基金资助项目(50122153);东南大学优秀博士学位论文基金资助项目(YBJJ0402)

摘　　要：为提高车辆的抗侧倾性能及降低高速下的侧翻危险性,应用μ综合鲁棒控制理论,针对四轮转向车辆,以横摆角速度跟踪和侧倾角速度反馈为控制逻辑,合理选择加权函数,设计鲁棒控制器和最优控制器抑制车辆侧倾.经仿真比较,设计的μ综合鲁棒控制器更具有良好操纵性能鲁棒性和稳定鲁棒性,对于轮胎侧偏刚度等引起的侧向干扰具有很好的抑制性能,实现传统四轮转向难以实现的主动侧倾操纵控制和跟踪性能.In order to improve the anti-roll performance and reduce the risk of rollover accidents for vehicle with high speed, the yaw-rate tracking and roll angular velocity feedback control model of four-wheel steering （4WS） is presented via the μ synthesis robust control theory. The robust controller and optimal controller are designed to control the roll motion of vehicle by introducing the performance weighting function and the robust weighting function. The results show that the 4WS vehicle with μ synthesis robust controller has greater maneuverability and robust performance than with optimal controller, and has strong ability to resist the disturbance of tire roll stiffness. The μ synthesis controller is provided with better performance of active roll steering control and tracking performance for whole closed-loop controlled 4WS vehicle compared with traditional 4WS vehicle.

关 键 词：四轮转向 Μ综合控制 主动侧倾 操纵性能 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] U461.6[自动化与计算机技术—控制科学与工程]