汽车转向/制动系统的非线性解耦内模控制  

Nonlinear Decoupling Internal Model Controller of Steering/Braking System of Vehicle

作　　者：李果[1,2] 彭莎[1,2] 

机构地区：[1]汽车动态模拟国家重点实验室,长春130025 [2]北京科技大学自动化学院,北京100083

出　　处：《系统仿真学报》2012年第8期1714-1718,共5页Journal of System Simulation

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

摘　　要：首先提出一个非线性控制系统研究汽车转向系统和防抱死制动系统的协同控制问题。该控制结构由转向控制器和制动控制器组成。为了确保系统全局稳定性,采用反馈线性化方法进行解耦。为了提高系统的鲁棒性并确保期望的动态性能,对解藕线性化的系统采用内模控制方法进行综合。然后设计适用于复杂工况的制动力分配策略。最后用仿真结果验证控制系统的有效性,它改善了汽车制动稳定性和转向性能。Firstly, a nonlinear control system was proposed for the cooperative control of the vehicle＇s steering and antilock braking systems. The control architecture is composed with the steering controller and the braking controller. The system was decoupled through feedback linearization method, which ensured the global stability of the system. In order to guarantee the dynamic desired property and to improve the robustness of the system, the internal model control method was applied to the decoupled and linearized system. Then the brake force distribution policy applicable to the complex work condition was proposed. Finally, the validity of the control system was validated by simulation results, which improved the braking stability and steering performance.

关 键 词：汽车转向制动 制动力分配 非线性解耦控制 内模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]