主动前轮转向与直接横摆力矩H_2/H_∞集成控制  

H_2/H_∞ Control for Integrated Active Front Steering and Direct Yaw Moment

作　　者：胡爱军[1] 王朝晖[2] 

机构地区：[1]河南理工大学机械与动力工程学院,河南焦作454000 [2]洛阳拖拉机研究所有限公司,河南洛阳471039

出　　处：《河南科技大学学报（自然科学版）》2010年第6期24-28,共5页Journal of Henan University of Science And Technology:Natural Science

基　　金：北京市科学技术委员会项目(D0305002040111);河南省教育厅自然科学研究计划项目(2010B210009)

摘　　要：为提高车辆的操纵稳定性,建立了包括侧向、横摆运动在内的7自由度整车模型以及车辆理想跟踪目标模型。以车辆质心侧偏角尽量小,实际车辆尽量跟踪参考横标角速度为目标,运用H2/H∞混合控制理论设计了车辆主动前轮转向与直接横摆力矩混合鲁棒集成控制器,并与H∞控制进行比较。仿真结果表明:采用H2/H∞混合控制的系统具有更好的性能和抵抗外界干扰的鲁棒稳定性,能更好的提高车辆的操纵稳定性。The seven degrees of freedom vehicle dynamics model and desired target tracking model were established.In order to improve vehicle handling performance and stability,the vehicle side slip angle should be small and the yaw rate should follow the reference value.A mixed robust controller was designed for integrated active front steering and direct yaw moment control by applying H2/H∞ control theory,and was compared with H∞ control.The simulation results show that the vehicle with the designed H2/H∞ mixed control has better performance than with H∞ control and has robust stability to outside noise.The vehicle handling performance and stability are greatly improved.

关 键 词：主动前轮转向 直接横摆力矩 混合控制 

分 类 号：U463.4[机械工程—车辆工程]