CAJ | 학술논문

针对中高速车辆转向时对操纵性以及稳定性的多目标性能要求，提出了用鲁棒控制模型匹配的方法来设计MIMO的控制策略。为此建立了考虑模型摄动的三自由度的整车动力学模型以及转向执行器模型，以二自由度模型为参考模型，以匹配参考模型为目标来设计μ控制器。对设计出的μ控制器和H∞控制器进行μ分析，结果表明，2种控制器在整个频段都能满足鲁棒稳定性的要求，且H∞控制器在低频段的鲁棒稳定性相比稍好，但μ控制器在最坏摄动下的鲁棒性能更佳，能有效地处理稳定性和性能的折中问题。仿真试验表明，μ控制器的控制效果能很好的跟踪参考状态响应，明显改善车辆的操纵性和稳定性。
침대중고속차량전향시대조종성이급은정성적다목표성능요구，제출료용로봉공제모형필배적방법래설계MIMO적공제책략。위차건립료고필모형섭동적삼자유도적정차동역학모형이급전향집행기모형，이이자유도모형위삼고모형，이필배삼고모형위목표래설계μ공제기。대설계출적μ공제기화H∞공제기진행μ분석，결과표명，2충공제기재정개빈단도능만족로봉은정성적요구，차H∞공제기재저빈단적로봉은정성상비초호，단μ공제기재최배섭동하적로봉성능경가，능유효지처리은정성화성능적절중문제。방진시험표명，μ공제기적공제효과능흔호적근종삼고상태향응，명현개선차량적조종성화은정성。
In view of the multi-objective performance requirement of maneuverability and stability on the vehicle steering at a high speed, the model matching with robust control method was proposed to de?sign the MIMO control strategy. Consequently, 3-DOF vehicle dynamics model and steering actuator model were established considering the model perturbation.μcontroller was designed with the 2-DOF model as the reference model and matching reference model as the target. The H∞ controller andμcon?troller were analyzed with the method ofμanalysis. The result shows that two kinds of controllers can meet the requirement of the robust stability in the whole frequency band, and the robust stability of H∞controller is slightly better in low frequency band. But in the worst perturbation input, the robust perfor?mance of μ controller is better, and it can effectively deal with the compromise between the stability and performance. The simulation test shows that the control effect ofμcontroller can primely track the reference state response, and improve the maneuverability and stability of the vehicle obviously.