[1]王金湘,代蒙蒙,陈南.考虑参数不确定性的汽车前轮主动转向输出反馈鲁棒控制[J].东南大学学报(自然科学版),2016,46(3):476-482.[doi:10.3969/j.issn.1001-0505.2016.03.004]
 Wang Jinxiang,Dai Mengmeng,Chen Nan.Robust output feedback control for vehicle active front wheel steering system considering parameter uncertainties[J].Journal of Southeast University (Natural Science Edition),2016,46(3):476-482.[doi:10.3969/j.issn.1001-0505.2016.03.004]
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考虑参数不确定性的汽车前轮主动转向输出反馈鲁棒控制()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
46
期数:
2016年第3期
页码:
476-482
栏目:
交通运输工程
出版日期:
2016-05-20

文章信息/Info

Title:
Robust output feedback control for vehicle active front wheel steering system considering parameter uncertainties
作者:
王金湘代蒙蒙陈南
东南大学机械工程学院, 南京 211189
Author(s):
Wang Jinxiang Dai Mengmeng Chen Nan
School of Mechanical Engineering, Southeast University, Nanjing 211189, China
关键词:
车辆 前轮主动转向 输出反馈 鲁棒控制 参数不确定性
Keywords:
vehicle active front wheel steering output feedback robust control parameter uncertainty
分类号:
U461;TP273
DOI:
10.3969/j.issn.1001-0505.2016.03.004
摘要:
提出基于静态输出反馈的前轮主动转向(AFS)鲁棒控制器,以提高汽车横摆角速度跟踪性能和横向稳定性.在控制器设计中考虑了车速和轮胎侧偏刚度的不确定性,其中车速在一定范围内变化并且可测,采用多胞型模型来描述车速的不确定性.利用多目标优化与输出反馈鲁棒控制方法,同时提高汽车横摆角速度跟踪性能和横向稳定性.在Matlab/Simulink和CarSim联合仿真环境中,对紧急转弯和双移线2种典型操纵工况下的控制器进行仿真试验.结果表明,所提出的控制器能够显著改善汽车的横向操纵性能和稳定性,降低驾驶员的工作负荷,且控制器对汽车模型参数的不确定性具有很好的鲁棒性.
Abstract:
A robust static output feedback controller for active front wheel steering(AFS)is proposed to improve the performance of vehicle yaw rate tracking and lateral stability. The modeling uncertainties including vehicle velocity and cornering stiffness are considered in the controller design. The vehicle velocity is variable and measurable, and the polytope model is applied to deal with the uncertainty of vehicle velocity. With the combination of the multi-objective optimization and the output feedback robust control, the performance of the tracking vehicle yaw rate and lateral stability is improved. In the co-simulation environment including Matlab/Simulink and CarSim, simulations under the typical handling conditions of J-turn and double lane change are conducted to verify the performance of the proposed controller. Simulation results show that the performance of vehicle handling and stability is improved with the proposed controller, and the workload of the driver is reduced. The results also show that the proposed controller is robust to the parameter uncertainty of the vehicle model.

参考文献/References:

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相似文献/References:

[1]王金湘,陈南,殷国栋,等.基于多主体机制的车辆主动后轮转向与ESP集成控制[J].东南大学学报(自然科学版),2010,40(3):506.[doi:10.3969/j.issn.1001-0505.2010.03.014]
 Wang Jinxiang,Chen Nan,Yin Guodong,et al.Multi-agent based integrated vehicle control system including active rear wheel steering and ESP[J].Journal of Southeast University (Natural Science Edition),2010,40(3):506.[doi:10.3969/j.issn.1001-0505.2010.03.014]

备注/Memo

备注/Memo:
收稿日期: 2015-11-11.
作者简介: 王金湘(1979—),男,博士,讲师,wangjx@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(51205058,51375086).
引用本文: 王金湘,代蒙蒙,陈南.考虑参数不确定性的汽车前轮主动转向输出反馈鲁棒控制[J].东南大学学报(自然科学版),2016,46(3):476-482. DOI:10.3969/j.issn.1001-0505.2016.03.004.
更新日期/Last Update: 2016-05-20