基于遗传算法的电动助力转向系统鲁棒Ho控制-控制理论与应用.PDF

29 4 Vol. 29 No. 4 2012 4 Control Theory Applications Apr. 2012 :2012 H , (, 066004) : (EPS), H . EPS, , H , , , . , . , EPS , , , . : ; ; ; : TP391.9 : A Robust H-infinity control for electric power steering based on genetic algorithm ZANG Huai-quan, WANG Yuan-yuan (Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao Hebei 066004, China) Abstract: To deal with the model uncertainties and road disturbances in the electric power steering (EPS) system, we propose a robust H-infinity control scheme based on genetic algorithm In this scheme, the model of the EPS system is built and the robust H-infinity method is applied to minimize the impact of road disturbances to the driver’s steering wheel for obtaining the maximal robustness. The weighted matrices in the design are obtained by optimizing multiple objectives using the genetic algorithm. The torque on the steering wheel produced by the road disturbance is analyzed. Simulation results show that this robust controller enhances the robustness and the ability of disturbance rejection, consequently, improving the driving safety and comfort for the driver. Key words: electric power steering; robust control; genetic algorithm; road feeling 1 (Introduction) [5] ; H /H , [6] , , . , [1] , , . , EPS(electric power steering) . . , , ,