Study on mixed H_2/H_∞ robust control strategy of four wheel steering system  

作　　者：ZHAO WanZhong QIN XiaoXi 

机构地区：[1]School of Energy & Power Engineering, Nanjing University of Aeronautics and Astronautics [2]The State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University

出　　处：《Science China(Technological Sciences)》2017年第12期1831-1840,共10页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.51375007);the Fundamental Research Funds for the Central Universities(Grant No.NE2016002);Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(Grant No.GZKF-201605)

摘　　要：Four wheel steering(4 WS) technology can effectively improve the vehicle handling stability and driving safety. In order to fully consider the influence of the rear wheel steering, the vehicle dynamics model of 4 WS vehicle, including the rear wheel steering by wire and two degrees of freedom vehicle model of 4 WS vehicle, is established in this paper. The desired yaw rate is obtained according to the variable transmission ratio strategy. The yaw rate tracking strategy is applied to 4 WS vehicle and rear wheel steering resistance moment is taken into account. Based on the robust control theory, H_2/H_∞ mixed robust controller design is carried to research the stability control of 4 WS vehicle. Finally, the closed-loop simulation added driver model based on preview theory is carried out. The simulation results indicate that the designed H_2/H_∞ mixed robust controller can achieve the stability control.Four wheel steering（4 WS） technology can effectively improve the vehicle handling stability and driving safety. In order to fully consider the influence of the rear wheel steering, the vehicle dynamics model of 4 WS vehicle, including the rear wheel steering by wire and two degrees of freedom vehicle model of 4 WS vehicle, is established in this paper. The desired yaw rate is obtained according to the variable transmission ratio strategy. The yaw rate tracking strategy is applied to 4 WS vehicle and rear wheel steering resistance moment is taken into account. Based on the robust control theory, H2/H∞ mixed robust controller design is carried to research the stability control of 4 WS vehicle. Finally, the closed-loop simulation added driver model based on preview theory is carried out. The simulation results indicate that the designed H2/H∞ mixed robust controller can achieve the stability control.

关 键 词：4WS vehicle handling stability stability control H2/H∞ control weight function 

分 类 号：U463.4[机械工程—车辆工程]