基于ARM处理器的汽车四轮转向H_∞控制器的实现  

Realization of H-Infinity Controller in Four-Wheel Steering Vehicle Using ARM Processor

作　　者：王洪礼[1] 李胜朋[1] 高强[2] 

机构地区：[1]天津大学机械工程学院,天津300072 [2]天津大学电气与自动化工程学院,天津300072

出　　处：《天津大学学报》2007年第1期58-61,共4页Journal of Tianjin University(Science and Technology)

基　　金：国家自然科学基金资助项目(50075060);天津市科技发展计划资助项目(033105011).

摘　　要：为提高汽车四轮转向系统性能,以汽车二自由度模型为基础,采用前馈和反馈的组合控制,基于实时操作系统在32位ARN处理器上设计汽车的H_∞控制器．样机测试实验结果表明:在高速状态下,车体侧偏角在2°左右,侧向加速度为12 m／s2附近,横摆角速度增益保持在1．6上下;低速状态下,前后轮转角反向相差10°左右。四轮转向半径比两轮转向缩短30％左右．因此,H_∞控制器能够满足高速行驶时汽车转向的稳定性和低速行驶时的灵活性要求．To improve the performance of four-wheel steering vehicle, an H-infinity controller using 32 bit ARM processor based on real time operation system is realized. Its theoretical model is a two-degree-of-freedom four-wheel steering vehicle, controlled by the combination of feed.forward and feedback. The testing results from model machine show that at higher speed, lateral yaw angle, lateral acceleration and weaving angular velocity overshoot of vehicle are about 2°, 12 m/s^2 and 1.6, respectively. While at lower speed the difference of front and rear tyres in opposite directions is about 10° and the radius of four-wheel steering is 30% smaller than the two-wheel one. So H-infinity controller can ensure stability at higher speed and agility at lower one.

关 键 词：汽车四轮转向 H∞最优控制 控制器 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]