汽车转向制动系统的满意控制  

Satisfactory control of the vehicle steering / braking system

作　　者：郭亭亭[1] 刘欢[1] 李果[1] 

机构地区：[1]北京科技大学自动化学院,北京100083

出　　处：《北京信息科技大学学报（自然科学版）》2015年第1期20-25,共6页Journal of Beijing Information Science and Technology University

基　　金：北京市自然科学基金资助项目(4112038)

摘　　要：为了提高汽车转向制动系统的实时性鲁棒性,采用"满意解"来代替"最优解"设计汽车转向和制动系统的"满意控制"。首先建立汽车制动系统和转向系统动力学模型,并分别设计了控制器,同时还建立了基于滑移率的误差制动模型和误差转向模型。在满足区域极点描述的暂态性能要求和输出方差上界描述的稳态性能的约束下,通过求取被控输出对随机扰动项的H∞优化问题,设计满意跟踪控制器。最后通过Matlab/Simulink仿真验证了所设计的控制器的有效性。In order to improve the robustness and real-time performance of the system, ＂satisfactory solution＂ is used instead of ＂optimal solution＂ to design the ＂satisfactory control＂ of the vehicle steering and braking systems. Firstly, the dynamic models of steering system and braking system are established and the controllers are designed respectively. Then the error steering mode and error brake mode are established based on slip ratio. By meeting the regional pole＇ s transient performance requirements and the output variance upper bound＇ s steady-state performance requirements, the satisfactory tracking controller is designed through obtaining the H~ optimization problem of controlled output with random disturbance items. Finally the effectiveness of the controllers is verified through the Matlab/Simulink.

关 键 词：汽车转向制动 满意控制 H∞优化 线性矩阵不等式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]