基于鲁棒H_∞控制的电动车辆转向研究  

Research on electric vehicle steering based on robust H_∞ control

作　　者：闫启迪 肖本贤[1,2] YAN Qidi;XIAO Benxian(School of Electric Engineering and Automation,Hefei University of Technology,Hefei 230009,China;National Engineering Laboratory of Energy-saving Motor and Control Technique,Anhui University,Hefei 230601,China)

机构地区：[1]合肥工业大学电气与自动化工程学院,安徽合肥230009 [2]安徽大学高节能电机及控制技术国家地方联合工程实验室,安徽合肥230601

出　　处：《合肥工业大学学报（自然科学版）》2018年第2期188-193,共6页Journal of Hefei University of Technology：Natural Science

基　　金：高节能电机及控制技术国家地方联合工程实验室开放课题基金资助项目(KFKT201701)

摘　　要：文章以前轮转向叉车为研究对象,在对电动叉车电动助力转向(electric power steering,EPS)系统进行动力学分析和建立整车二自由度模型的基础上,提出EPS系统鲁棒H∞控制器,并运用遗传算法对控制器的加权函数参数进行优化,使驾驶员获得满意的路感,系统的鲁棒性、行驶安全性得到提高。根据TFC20叉车的实际数据,进行Matlab在不同工况、不同控制方法下的对比仿真实验,从而验证了运用遗传算法优化的鲁棒控制器可以更好地给叉车提供可跟随的电机助力,确保系统的操作轻便性和稳定性。In order to obtain satisfactory steering feel,robust performance and steering stability for electric front-wheel steering forklift,models of electric power steering(EPS)system and a two-degree-of-freedom forklift are established,then the robust H∞controller based on genetic algorithm optimization of weight function parameters is proposed.In light of the TFC20 forklift,the Matlab simulation analysis with different conditions and control methods is done,and the result indicates that the robust controller based on genetic algorithm is effective in offering controlled steering aided power and ensuring the maneuverability and stability of the system.

关 键 词：前轮转向叉车 电动助力转向(EPS)系统 鲁棒H∞控制器 遗传优化 模型 

分 类 号：U463.42[机械工程—车辆工程] TP391.9[交通运输工程—载运工具运用工程]