基于T-S模糊理论的车辆主动转向系统多目标控制  

MULTI-OBJECTIVE CONTROL OF ACTIVE FRONT STEERING SYSTEM FOR VEHICLES BASED ON T-S FUZZY THEORY

作　　者：马新波 仝佳森 解芳[1] MA Xin-bo;TONG Jia-sen;XIE Fang(School of Intelligent Manufacturing,Nanyang Institute of Technology,Nanyang 473004,China)

机构地区：[1]南阳理工学院智能制造学院,河南南阳473004

出　　处：《南阳理工学院学报》2023年第4期25-30,共6页Journal of Nanyang Institute of Technology

基　　金：国家自然科学基金项目(51605230);河南省重点研发与推广专项(科技攻关)项目(212102210048);河南省高等学校重点科研项目(22B460018);南阳理工学院博士科研启动基金项目(NGBJ-2019-01);南阳理工学院交叉科学研究项目。

摘　　要：主动转向系统能通过主动转角补偿的方式实现横摆力矩控制,以改善车辆转向稳定性。针对横摆力矩控制,提出了基于T-S模糊理论的LQR多目标控制器的主动转向系统。该系统综合考虑主动转向系统的有效工作区间和车辆操纵模型中轮胎的非线性问题,采用T-S模糊理论建立了主动转向系统模型,并基于横摆角速度和车辆侧偏角这两个控制变量,设计了LQR多目标控制器。仿真分析结果表明,所提出的基于T-S模糊理论的LQR多目标控制器的主动转向系统整体上能降低横摆角速度、车辆侧偏角和侧向加速度,并快速达到稳定状态。该系统能有效改善车辆的转向稳定性,从而为主动转向系统的设计和应用提供理论参考与方法依据。Active front steering system can adjust the yaw moment via the active steering angle compensation,thus improving the vehicle cornering stability.In order to achieve the yaw moment control,an active front steering system with Takagi-Sugeno(T-S)fuzzy based linear quadratic regulator(LQR)multi-objective controller was proposed in this work.In this system,the effective region of the active front steering system and the tire nonlinearity of the vehicle handling model were fully considered.The model of the active front steering system was developed by using T-S fuzzy theory.The LQR multi-objective controller was designed with the consideration of the yaw rate and vehicle sideslip angle.Simulation results show that the proposed active front steering system with T-S fuzzy based LQR multi-objective controller could reduce the yaw rate,vehicle sideslip angle and lateral acceleration as a whole,and achieve the steady situation quickly.This system could improve the vehicle cornering stability effectively,thus providing a theoretical reference and method basis for the design and application of the active front steering system.

关 键 词：车辆工程 主动转向系统 横摆力矩 T-S模糊理论 多目标控制 

分 类 号：U461.1[机械工程—车辆工程]