CAJ | 학술논문

目前在汽车横摆力矩控制器设计中，往往忽略了系统输入是有限的这一约束条件，因此所设计的控制器并不能总是工作在预先设定的反馈规律下。这在实际环境中将导致系统性能的不可靠。为此，在二次最优控制器的基础上，增加抗饱和控制器的设计，并通过混合切换控制策略来达到既保证良好的控制性能，同时又能适应系统输入有限这一约束条件。仿真实验表明，所设计的控制策略与这些控制器单独控制相比，不仅抗饱和性能得到提高，而且控制性能也同样令人满意。该方案的设计为更加合理的汽车稳定性控制策略提供参考。
목전재기차횡파력구공제기설계중，왕왕홀략료계통수입시유한적저일약속조건，인차소설계적공제기병불능총시공작재예선설정적반궤규률하。저재실제배경중장도치계통성능적불가고。위차，재이차최우공제기적기출상，증가항포화공제기적설계，병통과혼합절환공제책략래체도기보증량호적공제성능，동시우능괄응계통수입유한저일약속조건。방진실험표명，소설계적공제책략여저사공제기단독공제상비，불부항포화성능득도제고，이차공제성능야동양령인만의。해방안적설계위경가합리적기차은정성공제책략제공삼고。
The actuator of controller for vehicle direct yaw-moment control always has physical limitation,so this is actually an input saturation system.While how to deal with this constraint condition is rarely to be concerned until now.To overcome this ques-tion,mixed switching controller has been proposed which consists of optimal control law obtained through quadratic form and anti-windup control law.Simulation study has been performed,and the results show that compared to LQR controller,mixed switching controller can not only have performance as well as it,but also avoid saturation obviously,so mixed switching type controller could be a more reasonable choice for direct yaw-moment control for vehicle lateral stability.