多轴转向车辆二自由度鲁棒控制  

Robust two-degree-freedom control for multi-axle steering vehicle

作　　者：刘芹芹[1] 高秀华[1] 张小江[1] 

机构地区：[1]吉林大学机械科学与工程学院,长春130022

出　　处：《农业工程学报》2011年第2期136-140,共5页Transactions of the Chinese Society of Agricultural Engineering

基　　金：江苏省科技成果转化专项项目(BA2007038)

摘　　要：为解决多轴转向车辆对参数不确定性所引起的鲁棒性较差的问题,该文在引入多轴转向车辆和两轴车辆的统一动力学模型的前提下,利用线性分式变换把模型中不确定结构与确定结构分开,并提出二自由度鲁棒控制器设计方法,其中前馈控制器实际上是模型匹配问题,反馈控制器是结构奇异值μ分析与综合问题。通过仿真看出,设计的前馈控制器对车速变化能进行独立补偿,反馈控制器对路面附着系数变化、轮胎侧偏刚度变化等引起的摄动具有很好的抑制性能,较好的实现了零质心侧偏角和横摆角速度跟踪控制目标。表明该控制方法能使系统具有良好的跟踪性能和鲁棒性。In order to improve robust stability of multi-axle steering vehicle,the unified dynamic model was built;and the uncertain structure and certain structure of this model were separated by LFTs（Linear Fractional Transformations）.Then two-degree-freedom controller design method was proposed for the multi-axle steering vehicle,where the feedforward controller was actually the model matching problem,and the feedback controller was μ analysis and synthesis problem.The simulation results showed that the velocity variations were compensated by feedforward controller independently,and the perturbations introduced by variations of road adhesion,tire cornering stiffness etc were restrained by feedback controller,and the system achieved zero sideslip angle and ideal yaw rate preferably.In conclusion,the control method can assure the good tracing performance and robustness for the vehicle system.

关 键 词：车辆 转向 鲁棒控制 多轴 Μ综合 两自由度 线性分式变换 

分 类 号：U463.4[机械工程—车辆工程]