基于模型分解的车辆侧倾控制器设计

吉林大学学报(信息科学版) ›› 2016, Vol. 34 ›› Issue (2): 237-243.

基于模型分解的车辆侧倾控制器设计

王德军, 杜婉彤, 王晰聪

吉林大学通信工程学院, 长春130012

收稿日期:2015-06-17 出版日期:2016-03-24 发布日期:2016-06-17
作者简介:王德军(1970—), 男, 内蒙古通辽人, 吉林大学副教授, 博士, 硕士生导师, 主要从事复杂系统故障诊断及容错控制研究, (Tel)86-13604422573(E-mail)djwang@ jlu. edu. cn。
基金资助:
国家自然科学基金重点基金资助项目(61034001)

Design of Controller for Vehicle Roll Based on Model Decomposition

WANG Dejun, DU Wantong, WANG Xicong

College of Communication Engineering, Jilin University, Changchun 130012, China

Received:2015-06-17 Online:2016-03-24 Published:2016-06-17

摘要/Abstract

摘要：

八自由度车辆模型所包含的控制量较多, 对其直接分析控制有一定的难度, 为此, 提出一种模型分解方法。将原有整车模型分解成3 部分, 使每部分模型包含的控制量较整车模型明显减少, 便于对每部分单独设计控制器。同时对分解后模型的车辆侧倾角及其速度部分, 使用线性二次型最优控制方法, 设计状态最优控制器实现车辆稳定性控制。计算结果表明, 该控制器具有较好的控制效果, 既降低了分解后模型的分析难度又保证了车体控制的精度。

关键词: 控制理论, 车辆稳定性控制, 模型分解, 线性二次型最优控制

Abstract:

Eight degrees of freedom vehicle model contains many control variables, it is difficult to directly analyze and control. Based on the eight degrees of freedom vehicle model, a model decomposition method is proposed, which decomposes the original model into three parts. Every part includes less control variables. It is easy to design a controller for each part. Considering the roll angle and the roll angular speed of the decomposed model, the linear quadratic optimal control method is introduced to design the optimal state controller, which can achieve vehicle's stability control. It is proved that the designed controller shows more excellent control effect.

Key words: control theory, vehicle stability control, model decomposition, linear quadratic optimal control

中图分类号:

TP273

王德军, 杜婉彤, 王晰聪. 基于模型分解的车辆侧倾控制器设计[J]. 吉林大学学报(信息科学版), 2016, 34(2): 237-243.

WANG Dejun, DU Wantong, WANG Xicong. Design of Controller for Vehicle Roll Based on Model Decomposition[J]. Journal of Jilin University(Information Science Ed, 2016, 34(2): 237-243.