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

Previous Articles     Next Articles

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)

768

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

CLC Number: 

  • 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] CHANG Cheng,SONG Chuan-xue,ZHANG Ya-ge,SHAO Yu-long,ZHOU Fang. Minimizing inverter capacity of doubly-fed machine driving electric vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1629-1635.
[2] XI Li-he,ZHANG Xin,SUN Chuan-yang,WANG Ze-xing,JIANG Tao. Adaptive energy management strategy for extended range electric vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1636-1644.
[3] HE Ren,YANG Liu,HU Dong-hai. Design and analysis of refrigeration system supplied by solar auxiliary power of refrigerator car [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1645-1652.
[4] NA Jing-xin,MU Wen-long,FAN Yi-sa,TAN Wei,YANG Jia-zhou. Effect of hygrothermal aging on steel-aluminum adhesive joints for automotive applications [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1653-1660.
[5] LIU Yu-mei,LIU Li,CAO Xiao-ning,XIONG Ming-ye,ZHUANG Jiao-jiao. Construction on collision avoidance model of bogie dynamic simulation test bench [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1661-1668.
[6] ZHAO Wei-qiang, GAO Ke, WANG Wen-bin. Prevention of instability control of commercial vehicle based on electric-hydraulic coupling steering system [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1305-1312.
[7] SONG Da-feng, WU Xi-tao, ZENG Xiao-hua, YANG Nan-nan, LI Wen-yuan. Life cycle cost analysis of mild hybrid heavy truck based on theoretical fuel consumption model [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1313-1323.
[8] ZHU Jian-feng, ZHANG Jun-yuan, CHEN Xiao-kai, HONG Guang-hui, SONG Zheng-chao, CAO Jie. Design modification for automotive body structure based on seat pull safety performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1324-1330.
[9] NA Jing-xin, PU Lei-xin, FAN Yi-sa, SHEN Chuan-liang. Effect of temperature and humidity on the failure strength of Sikaflex-265 aluminum adhesive joints [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1331-1338.
[10] WANG Yan, GAO Qing, WANG Guo-hua, ZHANG Tian-shi, YUAN Meng. Simulation of mixed inner air-flow integrated thermal management with temperature uniformity of Li-ion battery [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1339-1348.
[11] JIN Li-sheng, XIE Xian-yi, GAO Lin-lin, GUO Bai-cang. Distributed electric vehicle stability control based on quadratic programming [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1349-1359.
[12] KUI Hai-lin, BAO Cui-zhu, LI Hong-xue, LI Ming-da. Idling time prediction method based on least square support vector machine [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1360-1365.
[13] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[14] HU Man-jiang, LUO Yu-gong, CHEN Long, LI Ke-qiang. Vehicle mass estimation based on longitudinal frequency response characteristics [J]. 吉林大学学报(工学版), 2018, 48(4): 977-983.
[15] LIU Guo-zheng, SHI Wen-ku, Chen Zhi-yong. Finite element analysis of transmission error for hypoid gears considering installation error [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!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd