汽车转向/防抱死制动系统的非线性鲁棒协调控制  

The Nonlinear Robust Coordinated Control of the Steering/Anti-Lock Braking System of the Vehicles

作　　者：李果[1] 王辉[1] 

机构地区：[1]北京科技大学自动化学院,北京100083

出　　处：《信息与控制》2012年第2期256-260,272,共6页Information and Control

基　　金：北京市自然科学基金资助项目(4112038);汽车动态模拟国家重点实验室开放基金资助项目(20091101)

摘　　要：针对汽车转向系统和防抱死制动系统的协调控制问题,提出一种新的非线性鲁棒协调控制系统.该控制结构由转向控制器和制动控制器组成.为了改善整个系统的鲁棒性和协调性,根据汽车转向和制动非线性综合模型,基于Hamilton函数方法设计了汽车非线性鲁棒协调控制器.该控制器通过预置状态反馈完成系统的耗散Hamilton函数实现.设计了适用于复杂工况的制动力分配策略.仿真结果验证了所设计控制算法的稳定性和有效性.A new nonlinear robust coordinated control system is proposed for the cooperative control of the vehicle’s steering and anti-lock braking systems.The control architecture is composed of the steering controller and the braking controller.To improve the robustness and the coordination of the whole system,a nonlinear robust coordinated controller based on Hamilton function method is designed according to the nonlinear comprehensive model of the vehicle steering and braking.The dissipative Hamilton realization of this controller is obtained by a state pre-feedback technique.A brake force distribution policy applicable to the complex work condition is presented.The stability and the validity of the control algorithm are validated by simulation results.

关 键 词：汽车转向制动 制动力分配 非线性鲁棒控制 协调控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]