基于状态反馈主动转向控制.pdfVIP

2008 4 A pr il 200 8 27 4 M echan ica l Sc ience and T echno logy fo r A e rospace Eng ineer ing V ol. 27 N o. 4 陈德玲, 殷承良, 陈 俐, 张建武 , 200240 ) : 通过对前轮主动转向结构形式的分析和简化, 建立了 态空间形式的主动前轮转向动力学 模型并以转向盘转角横摆角速度和侧偏角为优化目标, 设计了线性二次型调节器控制通过横 摆角速度和质心侧偏角的共同反馈, 控制电动机助力转角, 实现主动转向控制过程中, 设计 态 观测器对难以直接测量的质心侧偏角信号进行估计, 满足系统对反馈信号的需求利用 M atlab 对 转向路径跟踪过程及遭遇侧向风作用工况的仿真分析表明, 通过横摆角速度和侧偏角的反馈控制, 将横摆角速度控制在理想的范围, 质心侧偏角被限制在车轮的线性范围内, 有效地改善整车的转向 特性, 提高汽车的操纵稳定性 : 主动前轮转向; 态观测器; 线性二次型调节器; 操纵稳定性; 横摆角速度; 侧偏角 : U4616 : A : 2008) 0450305 Active Steering ControlBased on State Feedback Chen D eling, Y in Cheng liang, Chen L ,i Zhang Jianwu Schoo l o f M echanical Eng inee ring, Shanghai J iaotong U n iversity, Shangha i 200240) Abstract: A smi p lified m odel o f the steering system incorporating veh icle dynam ics is ana lyzed based on the struc ture o f the active front steering A FS) system, and a linear quadratic regulator LQR) controller is proposed. In the controller, the assisted m otor angle is contro lled by the feedback of yaw rate and the sideslip ang le. A state space observer is designed to estmi ate the sideslip ang le wh ich is d ifficu lt to m easure to m eet the dem and o f feed back. F inally, the steering fo llow ing and the w ork cond ition in facing crossw ind are smi u lated in MATLA B. T he re su lts indicate that the yaw ra te is contro lled w ith in su itab le range and the sideslip ang le is confined to a linear re gion. Both the hand ling stability and steering character are mi proved by the yaw rate and the sideslip angle feed back contro l. Key words: active front steering A FS) ; state observer