提高车辆安全性的输出反馈自适应控制  

Output-feedback adaptive control for improving vehicle safety

作　　者：陈长芳[1] 武玉强[1] 

机构地区：[1]曲阜师范大学自动化研究所,山东曲阜273165

出　　处：《控制与决策》2009年第1期153-156,共4页Control and Decision

基　　金：国家自然科学基金项目(60674027);教育部博士点基金项目(20050446001)

摘　　要：研究含有时变参数的车辆动力学模型的输出跟踪控制问题.控制目标是使车辆的横摆角速度和质心侧偏角分别跟踪理想的设定值,通过反推方法设计输出反馈自适应控制器.控制器的输出为主动横摆力矩,通过控制主动横摆力矩来控制车辆的输出响应跟踪理想的输出信号,从而提高车辆的安全性.仿真结果表明,该控制器能更好地适应车速和路况的变化,鲁棒性强.The problem of output tracking control of vehicle dynamic model with time-varying parameters is investigated. The control object is to force the yaw rate and the side slip angle track their desired signal. The idea of backstepping is used to design output-feedback adaptive controller. The output of the controller is yaw moment, which is used to make the actual vehicle response track the given reference signal so as to improve vehicle safety. The simulation results show that the controller can ajust to the change of vehicle speed and road condition and has strong robustness.

关 键 词：车辆动力学模型 输出反馈 横摆力矩 非线性自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]