4WS汽车横摆角速度跟踪μ综合鲁棒控制

μ SYNTHESIS ROBUST CONTROL FOR FOUR-WHEEL STEERING VEHICLE BASED ON YAW-RATE TRACKING

实际汽车行驶总承担不同的载荷以及运行状态(如速度)变化,以横摆角速度跟踪反馈为控制逻辑,设计μ综合鲁棒控制器来抑制外部干扰,优化权函数,实现了传统四轮转向4WS(Four-wheelsteering)车辆控制器难于达到的性能指标。仿真表明,所设计的4WS汽车μ综合鲁棒控制器不仅可使其具有良好操纵性能鲁棒性和稳定鲁棒性,即对外界干扰具有很好的抑制性能且不敏感于车辆参数变化,也改善了以往H∞控制器设计偏于保守的问题。

In practice, vehicles always undertake different loadings and have velocity variation because of braking/accelerating. Under of the yaw-rate tracking feedback control logic, a synthesis robust controller is designed with the optimized weighting functions to attenuate the external disturbances. The controller is provided with better performance for whole closed-loop controlled 4WS （Four-wheel steering）vehicle comparing the arrived by the normal 4WS controller designed by old techniques. The results show that the 4WS vehicle with μ synthesis robust controller not only has greater maneuverability and robust performance but also has the strong ability to resist the disturbance, and it is not sensitive to the variation of vehicle parameters. The controller also improves the disadvantage for the H∞ controller which normally is conservative about the disturbance resistance.