摘要
(清华大学汽车安全与节能国家重点实验室, 北京 100084)摘 要:设计了一种前馈—反馈复合控制结构,将直接横摆力矩控制和主动前轮转向控制相结合以提高制动稳定性.控制器将前轮转向角视为输入,将外部侧向干扰力和力矩作用视为扰动,通过前馈校正补偿转向角引起的状态变化;同时建立扰动状态观测器,采用反馈控制校正消除外部扰动引起的状态误差.仿真试验证实这种控制方法在提高制动稳定性方面有良好的效果.*
A compound controller with feed forward and feedback compensators is presented. The controller improves braking stability by integrated direct yaw moment control and active front steer control. The front steer angle and external lateral force moment are regarded as input and disturbances, respectively. The feed forward compensator is designed to decide the control inputs directly by the steer wheel, and feedback compensator combined with disturbance observer is designed to suppress output error caused by external disturbances. The control method is verified by simulation that braking stability is optimized.
出处
《信息与控制》
CSCD
北大核心
2005年第1期26-29,34,共5页
Information and Control
关键词
直接横摆力矩控制
主动前轮转向
扰动状态观测器
最优控制
direct yaw-moment control (DYC)
active front steer (AFS)
disturbance state observer
optimal control
