H_∞回路成形半挂汽车列车鲁棒控制器设计  

H_∞ loop shaping robust controller design for tractor-semitrailer

作　　者：常胜[1,2] 许洪国[1] 刘宏飞[1] 

机构地区：[1]吉林大学交通学院,长春130022 [2]佳木斯大学机械工程学院,黑龙江佳木斯154007

出　　处：《吉林大学学报（工学版）》2011年第6期1571-1576,共6页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(50878095;51078167);'十一五'国家科技支撑计划项目(2009BAG13A04)

摘　　要：在路面参考坐标系下建立了半挂汽车列车模型,分析了牵引车侧向位移响应特性。将鲁棒控制理论和算法应用于半挂汽车列车干扰控制的研究。针对开环不稳情况,运用标称受控对象前后加权、规范化左互质因式分解等方法设计了H∞回路成形控制器。该控制器具有良好的鲁棒稳定性,能够稳定有干扰情况下的车辆系统,满足道路条件要求,使侧向偏移量保持在较小数值下。A model was built for the tractor-semitrailer in the road reference frame to analyze the response of the tractor-semitrailer to the tractor lateral displacement.The robust control theory and algorithm were used to study the disturbance control of the tractor-semitrailer.A H∞ loop-shaping controller was designed by techniques such as the pre-and/or post-weighting of the nominal controlled object and the normalized left coprime faetorization.The designed controller appears to be characterized by a good trade-off between the driving performance and the robust stability,ensuring the driving performance of the tractor-semitrailer under the lateral force disturbance with little lateral track shift.

关 键 词：交通运输安全工程 路面参考坐标系 侧向力干扰 半挂汽车列车 H∞回路成形 鲁棒控制 

分 类 号：U469.5[机械工程—车辆工程]