基于非线性干扰观测器的车轮滑移率跟踪控制  

Wheel slip rate tracking control based on nonlinear disturbance observer

作　　者：张家旭 周时莹 赵健[1] 施正堂 ZHANG Jiaxu;ZHOU Shiying;ZHAO Jian;SHI Zhengtang(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;Intelligent Network Research and Development Institute,China FAW Group Co.Ltd.,Changchun 130011,China;Zhejiang Asia-Pacific Mechanical and Electronic Co.Ltd.,Hangzhou 311200,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,吉林长春130022 [2]中国第一汽车集团有限公司智能网联研发院,吉林长春130011 [3]浙江亚太机电股份有限公司,浙江杭州311200

出　　处：《华中科技大学学报（自然科学版）》2020年第10期44-49,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金面上项目(51575225).

摘　　要：针对自动驾驶技术对强鲁棒性、高精度的车轮滑移率跟踪控制需求,提出一种基于非线性干扰观测器的车轮滑移率跟踪控制方法.首先,基于1/4车辆动力学模型建立车轮滑移率跟踪模型,并采用幂函数和线性函数相结合的方式设计非线性干扰观测器,估计和补偿车轮滑移率跟踪模型的复合干扰;然后,以抗饱和补偿系统和双曲正切函数为基础,设计车轮滑移率跟踪抗饱和控制律,抑制输入饱和效应对闭环系统稳定性的影响,以及避免闭环系统产生抖振;最后,基于车辆动力学仿真软件建立模型在环仿真系统来验证所提方法.仿真结果表明:该方法可以对任意目标车轮滑移率进行高精度的跟踪控制,满足自动驾驶技术对强鲁棒性、高精度的车轮滑移率跟踪控制的需求.In order to meet the requirement of the autonomous driving technology for the wheel slip rate tracking control with strong robustness and high precision,a nonlinear-disturbance-observer-based wheel slip rate tracking control method was proposed.First,a wheel slip rate tracking control model was established based on the quarter-vehicle dynamics model,and a nonlinear disturbance observer was designed by combining the power function with the linear function to estimate and compensate the composite disturbance of the wheel slip rate tracking control model.Then,on the basis of the anti-windup compensation system and the hyperbolic tangent function,a wheel slip rate tracking anti-windup control law was designed to suppress the influence of the control input saturation on the stability of the closed-loop system and avoid the chattering phenomenon of the closed-loop system.Finally,a model in the loop simulation system was established based on the vehicle dynamics simulation software to verify the proposed method.Simulation results show that the proposed method can track any target wheel slip rate with high precision,and meet the requirement of the autonomous driving technology for the wheel slip rate tracking control with strong robustness and high precision.

关 键 词：车辆工程 非线性干扰观测器 车轮滑移率 跟踪控制 抗饱和补偿 

分 类 号：U461.1[机械工程—车辆工程]