电动助力转向系统多领域鲁棒控制模型的降阶万法 - 控制理论与应用.pdf

28 10 Vol. 28 No. 10 2011 10 Control Theory Applications Oct. 2011 : 1000−8152(2011)10−1436−05 1 1 2 1 , , , (1. , 310037; 2. , 430074) : , (EPS) . , (ISE) . EPS, Hankel. , ISE , . : ; ; H∞; ; : U463.4 : A Order reduction in robust multi-domain control model for electric power steering system 1 1 2 1 CHEN Hui-peng , CHEN Guo-jin , CHEN Li-ping , GONG You-ping (1. School of Mechanical Engineering, HangZhou DianZi University, Hangzhou Zhejiang 310037, China; 2. School of Mechanical Science and Engineering, HuaZhong University of Science and Technology, Wuhan Hubei 430074, China) Abstract: To satisfy the demands of driving on cosiness, safety and energy conservation, the robust control algorithm plays an important role in the electrical power steering(EPS) control system. To improve the inherently poor real-time performances and reduce the high cost, we present a reduced-order method based on the optimal integral square- error(ISE) model, and apply this method to reduce the order of the robust controller designed. Both the analysis result and the simulation result show that the ISE method is superior to the Hankel norm reduction method in reduction effect and the robustness of the reduced-order system. Key words: electric power steering; multi-domain; H-infinity control; model reduction; robust control 1 (Introduction) [5∼7] . (electric power steering, EPS) 1966Davison[8], [1,2] , , . , , , , , . , , ,