后轮主动转向的2自由度鲁棒控制

2 DOFs Robust Active Rear-wheel Steering Control

在传统前馈后轮主动转向控制的基础上,提出了一种2自由度后轮主动转向鲁棒控制规律。该方法 通过引入独立参数化2自由度控制结构,实现了4轮转向系统对车速变化和轮胎侧偏刚度变化的独立补偿。其前 馈控制器的设计与传统前馈4轮转向控制完全相同,而反馈控制器的设计为一针对轮胎侧偏刚度不确定性的标准 H控制问题。该方法的主要优点是既充分发挥了传统前馈控制的优点,又降低了反馈控制器的阶数。

This paper proposes a 2 DOFs robust active rear-wheel steering control scheme based on traditional feedforward active rear-wheel steering control. The feedforward compensator is the same as the traditional one, dealing only with the change of vehicle speed. As for the feedback compensator, by solving an H ∞ optimization problem, the independent compensation for the variations in vehicle dynamic characteristics caused by factors other than speed changes is realized through the independent parameterization of 2 DOFs compensators. The scheme not only maintains the advantages of traditional feedforward compensators, but also lowers the order of feedback compensator.