吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (6): 1757-1762.doi: 10.13229/j.cnki.jdxbgxb201506004

• • 上一篇    下一篇

基于H∞的车辆横向运动鲁棒控制

钱立军， 胡伟龙， 辛付龙， 邱利宏   

  1. 合肥工业大学 机械与汽车工程学院 ,合肥 230009
  • 收稿日期:2014-04-03 出版日期:2015-11-01 发布日期:2015-11-01
  • 作者简介:钱立军(1962-),男,教授,博士生导师.研究方向:车辆电子,车辆控制.E-mail:hfutqlj@163.com
  • 基金资助:
    工信部电子产业发展基金项目(财[2009]453号); 中航工业产学研合作创新工程项目(CXY2010HFGD26)

Controlling of vehicle lateral movement based on robust H∞ theory

QIAN Li-jun, HU Wei-long, XIN Fu-long, QIU Li-hong   

  1. School of Mechanical and Automotive Engineering, Hefei University of Technology,Hefei 230009,China
  • Received:2014-04-03 Online:2015-11-01 Published:2015-11-01

RICH HTML

0   

PDF (PC)

784

摘要： 为了实现车辆在横向运动过程中的精确控制,提出了一种车辆横向运动鲁棒控制器。通过控制输入转向系统控制器中转角的大小得到理想的车辆质心横向加速度,实现鲁棒稳定和较小的控制误差。首先根据车辆二自由度模型、转向系统摄动、道路摄动建立广义状态方程,再对广义状态方程进行回路变换,求出控制器,最后进行稳定性分析和试验验证。所得的控制器参数随车速变化而变化,且控制器的设计比其他的变参数控制器设计要简单。稳定性分析结果表明,控制器使得系统内部稳定;实车验证结果表明,控制器能够使车辆横向运动的质心加速度误差控制在0.1 m/s2以内。

关键词: 车辆工程, 鲁棒控制, 横向运动, 摄动, 内部稳定

Abstract: In order to achieve precise control of the lateral movement of vehicles, a robust controller for vehicle motion is proposed. Ideal lateral acceleration of the vehicle mass center is achieved by changing the input angle of the steering controller, and robust stability and smaller control error are obtained. First, according to 2-degree-freedom vehicle model, the steering system and road perturbations, the generalized state equation is established. Then a loop transformation of the state equation is made to get the controller. Finally stability analysis and experiments are carried out. The controller parameters vary with the vehicle speed, and the design of this controller is much simpler than other variable parameter controller. Stability analysis results show that the whole control system has internal stability. Vehicle experiment results show that the controller can make the acceleration error of the lateral motion of the vehicle mass center within 0.1 m/s2.

Key words: vehicle engineering, robust control, lateral movement, perturbation, internal stability

中图分类号: 

  • U27
[1] 王家恩,陈无畏,王檀彬,等.基于期望横摆角速度的视觉导航智能车辆横向控制[J].机械工程学报,2012,48(4):108-112.
Wang Jia-en,Chen Wu-wei,Wang Tan-bin,et a1.Vision guided intenigent vehicle lateral control based on desired yaw rate[J]. Journal of Mechnical Engineering,2012,48(4):108-112.
[2] 丁海涛,郭孔辉,李飞,等.基于加速度反馈的任意道路和车速跟随控制驾驶员模型[J].机械工程学报,2010,46(10):116-120.
Ding Hai-tao,Guo Kong-hui,Li Fei,et a1.Arbitrary path and speed following driver model based on vehicle acceleration feedback[J]. Journal of Mechnical Engineering,20l0,46(10):116-120.
[3] 赵熙俊,陈慧岩. 智能车辆路径跟踪横向控制方法的研究[J].汽车工程,2011,33(5):384-387.
Zhao Xi-jun,Chen Hui-yan. A study on lateral control method for the path tracking of intelligent vehicles[J]. Automotive Engineering 2011,33(5):384-387.
[4] Yacine Z, Ichalal D, Ait-Oufroukh N, et a1. Takagi-Sugeno observers: experimental application for vehicle lateral dynamics estimation[J]. Control Systems Technology,2014,99(6):1-8.
[5] 王吉华,魏民祥,李玉芳,等.多轴转向车辆模糊 H ∞ 保性能控制[J].南京航空航天大学学报,2013,45(10):677-682.
Wang Ji-hua,Wei Min-xiang,Li Yu-fang,et al. T-S fuzzy H ∞ guaranteed cost control of multi-steering vehicle[J]. Journal of Nanjing University of Aeronautics & Astronautics,2013,45(10):677-682.
[6] Zhang Bo-jun, Liu Chun-hui. Modeling and simulating research of integrated fuzzy control for automobile steering stability[C]∥2011 International Conference on Energy and Environmental Scinence,Singapore, 2011:1299-1304.
[7] Ailon A, Zohar I. Control strategies for driving a group of nonholonomic kinematical mobile robots in formation along a time-parameterized path[J]. IEEE/ASME Transaction on Mechatronics,2012,17(2):326-336.
[8] Li Y H, Zheng Q. Design of robust sliding mode with disturbance observer for multi-axis coordinated traveling system[J]. Computers and Mathematics with Application,2012,64(5):759-765.
[9] 贺宜,褚端峰,吴超仲,等.路面附着条件对车辆横向稳定性影响的量化分析[J].武汉理工大学学报:交通科学与工程版,2014,38(4):784-788.
He Yi,Chu Duan-feng,Wu Chao-zhong,et a1. Quantitative analysis of influence on vehicular lateral stability by road surface condition[J]. Journal of Wuhan University of Technology (Transportation Science & Engineering),2014,38(4):784-788.
[10] Le T P, Stiharu I. Preview control and Kalman filter applied to lateral and longitudinal planning for autonomous vehicles[C]∥Proceedings of the 3rd IASTED Asian Conference on Modelling,Identification, and Control, AsiaMIC,2013:799-811.
[11] Lin L H, Yen J Y,Wang F C. System identification and robust control of a pneumatic muscle actuator system[C]∥2nd International Conference on Engineering and Technology Innovation,Taiwan,2013,284-287:1936-1940.
[12] He Y, Wu M, She J H. Improved bounded-real-lemma representation and H ∞ control for systems with polytypic uncertainties[J]. IEEE Transactions on Circuits and Systems II: Express Briefs,2005,52(7):380-383.
[13] Xie L, Fridman E, Shaked U. Robust H ∞ control of distributed delay systems with application to combustion control[J]. IEEE Trans Automatic Control,2001,46(12):1930-1935.
[14] 刘康志,姚郁. 线性鲁棒控制[M].1版.北京:科学出版社,2013.
[15] 吴敏,桂卫华,何勇. 现代鲁棒控制[M]. 2版.长沙:中南大学出版社,2008.
[16] 玄圣夷,宋传学,靳立强,等. 基于多级鲁棒PID控制的汽车稳定性控制策略[J]. 吉林大学学报:工学版,2010,40(1):13-18.
Xuan Sheng-yi, Song Chuan-xue, Jin Li-qiang, et al. Multilevel robust PID control strategy for vehicle stability control[J]. Journal of Jilin University(Engineering and Technology Edition),,2010,40(1):13-18.
[1] 常成,宋传学,张雅歌,邵玉龙,周放. 双馈电机驱动电动汽车变频器容量最小化[J]. 吉林大学学报(工学版), 2018, 48(6): 1629-1635.
[2] 席利贺,张欣,孙传扬,王泽兴,姜涛. 增程式电动汽车自适应能量管理策略[J]. 吉林大学学报(工学版), 2018, 48(6): 1636-1644.
[3] 何仁,杨柳,胡东海. 冷藏运输车太阳能辅助供电制冷系统设计及分析[J]. 吉林大学学报(工学版), 2018, 48(6): 1645-1652.
[4] 那景新,慕文龙,范以撒,谭伟,杨佳宙. 车身钢-铝粘接接头湿热老化性能[J]. 吉林大学学报(工学版), 2018, 48(6): 1653-1660.
[5] 刘玉梅,刘丽,曹晓宁,熊明烨,庄娇娇. 转向架动态模拟试验台避撞模型的构建[J]. 吉林大学学报(工学版), 2018, 48(6): 1661-1668.
[6] 赵伟强, 高恪, 王文彬. 基于电液耦合转向系统的商用车防失稳控制[J]. 吉林大学学报(工学版), 2018, 48(5): 1305-1312.
[7] 宋大凤, 吴西涛, 曾小华, 杨南南, 李文远. 基于理论油耗模型的轻混重卡全生命周期成本分析[J]. 吉林大学学报(工学版), 2018, 48(5): 1313-1323.
[8] 朱剑峰, 张君媛, 陈潇凯, 洪光辉, 宋正超, 曹杰. 基于座椅拉拽安全性能的车身结构改进设计[J]. 吉林大学学报(工学版), 2018, 48(5): 1324-1330.
[9] 那景新, 浦磊鑫, 范以撒, 沈传亮. 湿热环境对Sikaflex-265铝合金粘接接头失效强度的影响[J]. 吉林大学学报(工学版), 2018, 48(5): 1331-1338.
[10] 王炎, 高青, 王国华, 张天时, 苑盟. 混流集成式电池组热管理温均特性增效仿真[J]. 吉林大学学报(工学版), 2018, 48(5): 1339-1348.
[11] 金立生, 谢宪毅, 高琳琳, 郭柏苍. 基于二次规划的分布式电动汽车稳定性控制[J]. 吉林大学学报(工学版), 2018, 48(5): 1349-1359.
[12] 隗海林, 包翠竹, 李洪雪, 李明达. 基于最小二乘支持向量机的怠速时间预测[J]. 吉林大学学报(工学版), 2018, 48(5): 1360-1365.
[13] 王德军, 魏薇郦, 鲍亚新. 考虑侧风干扰的电子稳定控制系统执行器故障诊断[J]. 吉林大学学报(工学版), 2018, 48(5): 1548-1555.
[14] 胡满江, 罗禹贡, 陈龙, 李克强. 基于纵向频响特性的整车质量估计[J]. 吉林大学学报(工学版), 2018, 48(4): 977-983.
[15] 刘国政, 史文库, 陈志勇. 考虑安装误差的准双曲面齿轮传动误差有限元分析[J]. 吉林大学学报(工学版), 2018, 48(4): 984-989.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
版权所有 © 《吉林大学学报(工学版)》编辑部
地址：长春市人民大街5988号　电话：+86-431-85095297　传真：+86-431-85094074　E-mail: xbgxb@jlu.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发