超重载特种车辆横摆稳定性自抗扰控制  

Active Disturbance Rejection Controller for Yaw Stability of Super-heavy Special Vehicles

作　　者：陈志翔 汤国杰 舒洪斌 曹友 董家臣 CHEN Zhixiang;TANG Guojie;SHU Hongbin;CAO You;DONG Jiachen(Rocket Force Sergeant College,Qingzhou 262500,China;The Key Laboratory of Systems and Control,Academy of Mathematics and Systems Sciences,Chinese Academy of Sciences,Beijing 100190,China)

机构地区：[1]火箭军士官学校,青州262500 [2]中国科学院数学与系统科学研究院系统控制重点实验室,北京100190

出　　处：《指挥与控制学报》2024年第5期561-568,共8页Journal of Command and Control

基　　金：国家自然科学基金(52472464);山东省自然科学基金(ZR2023QF010)资助。

摘　　要：针对超重载特种车辆的横摆稳定性控制问题,提出了一种自抗扰控制方法。为了解决横摆动力学的欠驱动控制问题,对原系统进行系统变换,将其转化为一个由质心侧偏角和横摆角速度组成的串联系统。对两个子系统分别设计自抗扰控制器。闭环系统呈现内外环结构,横摆角速度控制回路在内环,质心侧偏角控制回路在外环。利用奇异摄动理论证明了闭环系统是半全局一致最终有界的。基于MATLAB与TruckSim,在双移线、定圆两种典型工况下进行联合仿真,仿真结果验证了提出的自抗扰控制方法的可行性。An active disturbance rejection control method for yaw stability control of super-heavy special vehicles is proposed.First,to deal with the under-actuated control problem of yaw dynamics,the original system is transformed into a tadem system composed of side slip angle and yaw angular velocity.Second,two active disturbance rejection controllers are designed for the two subsystems,respectively.The closed-loop system presents an inner and outer loop structure,with yaw angular velocity control loop in the inner loop and side slip angle control loop in the outer loop.Then,it can be proved that the closed-loop system is semi-global uniformly and ultimately bounded by the singular perturbation theory.Finally,the joint simulation is conducted based on three typical working conditions including MATLAB and TruckSim,double lane change and circle,the simulation results verify the feasibility of the proposed active disturbance rejection control method.

关 键 词：超重载特种车辆 横摆稳定性 欠驱动系统 串联系统 自抗扰控制 

分 类 号：TJ81[兵器科学与技术—武器系统与运用工程]