汽车EPS与ASS的H_∞/PID集成控制

Integrated Control of the EPS and ASS of An Automobile Based on H_∞/PID Scheme

分别建立了汽车电动助力转向(EPS)模型与主动悬架系统(ASS)模型,提出了EPS与ASS的集成模型。综合考虑EPS与ASS的相互影响,设计出H∞/PID集成控制系统。从提高汽车转向行驶时的乘坐舒适性和操纵稳定性角度出发,根据人体对振动的敏感频率范围引入了适当的频域加权函数,设计出ASS系统的H∞最优控制器,使水平和垂直方向敏感频率范围内的振动都得到明显降低;从改善驾驶员转向轻便性角度出发,设计出EPS系统的PID控制器。仿真结果表明,该集成控制方法能够使汽车转向行驶时的乘坐舒适性和操纵稳定性得到提高。

The EPS model and ASS model of an automobile was built respectively. Considering the mutual influences between EPS and ASS systems, an integrated control structure was designed. On one hand, considering the comfort and handling stability characteristics, the frequency- dependent weighting matrices were introduced. In order to reduce the vibration at specific bands of frequency, a H~ controller was designed. On the other hand, a PID controller for the EPS was also designed to improve steering performance. Simulation results show that integrated control scheme is effective, the comfort and handling stability and other characteristics can be greatly improved.