极限工况下汽车稳定性的最优保性能控制

Optimal Guaranteed Cost Control of Vehicle Stability at Limit Conditions

考虑轮胎侧偏刚度参数的不确定性,建立了用于控制器设计的线性参数不确定性车辆模型。在分析现有的汽车操纵稳定性控制策略特点的基础上,提出了二次最优保性能汽车稳定性控制方案;基于模型跟踪控制技术和参数不确定性车辆模型推导了汽车稳定性二次最优保性能控制器。仿真结果表明,与传统二次最优控制相比,最优保性能控制方案在保证系统稳定性和鲁棒性的同时可以获得更小的质心侧偏角和更好的横摆响应。

Considering the uncertain characteristic of the tire cornering stiffness, a linear parametric uncertainty vehicle model was developed for designing the controller. An optimal guaranteed cost control scheme was proposed on the basis of an analysis of the existing strategies for vehicle handling and stability control. An optimal guaranteed cost controller for the vehicle stability was developed based on model-following technique and the vehicle model with parametric uncertainties. Some simulations have been earned out, and the result demonstrated that the optimal guaranteed cost control scheme could not only keep the system stable but also obtain a much smaller slip angle and have much better yaw rate response.