状态反馈控制及观测器在多桥车辆转向中的应用

Application of state feedback and observer in multi-axle vehicle steering system

建立了多桥车辆的3自由度动力学模型,针对质心侧偏角、车身侧倾角及侧倾角速度难以测量问题,设计了Luenberger观测器,并对Luenberger观测器进行仿真分析,分析结果表明:观测器跟踪性能良好、速度快且误差小。基于Luenberger观测器设计了状态反馈控制器,并对某多桥车辆进行仿真研究,与只前轮转向对比分析,结果表明:采用状态反馈控制器进行转向的多桥车辆各性能指标都显著优于只前轮转向,且具有良好的动态性能和鲁棒性,提高多桥车辆的操纵稳定性及安全性。

A 3-degrees of freedom multi-axle vehicle dynamic model is established. Taking account of the practical difficulties for measuring the sideslip,rolling angles and rolling angle speed,a Luenberger observer is designed,and the simulation and analysis of the Luenberger observer are performed. The results show that the Luenberger observer has excellent characteristics in the considered speed range in tracking path. Then,a state feedback controller is designed on the basis of the Luenberger observer,and simulation of a multi-axle vehicle is also carried out. The results show that the performances of a multi-axle vehicle with the proposed control strategy is better than a multi-axle vehicle with front wheel steering strategy,and its control system has fine dynamic characteristic and strong robustness,so multi-axle vehicle with the proposed control strategy can improve vehicle handling stability and security.