四轮转向车辆H2/H∞混合鲁棒控制与仿真  

H_2/H_∞ Mixed Robust Control and Simulation for 4WS Vehicle

作　　者：张孝祖[1] 李辉[1] 蔡双飞[1] 

机构地区：[1]江苏大学汽车与交通工程学院

出　　处：《农业机械学报》2008年第8期14-17,156,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(项目编号:50475121)

摘　　要：建立包括车辆侧倾和车轮转动在内的四轮转向车辆不确定模型,采用主动控制转向系转角和独立控制车轮所受制动力矩的控制策略,运用基于LMI方法的H2/H∞混合鲁棒控制理论对车辆四轮转向系统进行了综合控制设计,并与H∞控制、H2控制进行对比。仿真结果表明,采用H2/H∞混合鲁棒控制的系统不仅对系统不确定性具有鲁棒稳定性,而且对外界干扰具有较好的抑制能力,很好地改善了系统的动态性能。The uncertain model of the vehicle including roll and wheel rotation was established. By actively controlling the steering system angle and independently controlling the wheel brake torque, the integrated control design was carried out by using H2/H∞ mixed robust control theory based on LMI method and was compared with H2 control and H∞ control. The simulation results indicated that the H2/H∞ mixed robust control not only had robust stability to the system uncertainty, but also effectively curbed external disturbance and improved the system dynamic performance well

关 键 词：车辆 四轮转向 混合鲁棒控制 仿真 

分 类 号：U461.6[机械工程—车辆工程]