基于全状态观测器状态反馈的多轴转向极点配置

Pole Assignment of Multi-steering Vehicle Based on State Feedback with Full-order Observer

提出了一种利用观测器进行状态重构并利用重构状态进行反馈配置极点来改善多轴转向车辆性能的方法。建立了多轴转向车辆二自由度(2DOF)模型,基于系统输入和易测得的横摆角速度设计全状态观测器重构侧偏角,并根据系统希望极点和重构状态,设计状态反馈控制器进行极点配置。通过仿真验证,观测器能准确跟踪车辆状态,转向反应迅速而平稳,且在后轮转角±5°范围内具有鲁棒性,控制效果明显优于PID控制的控制效果。结果表明,控制器能有效改善多轴转向车辆动态品质,提高操纵稳定性。

A method for improving performance of a multi--steering vehicle was proposed by re- constructing states with observer and the poles were assigned by using reconstructed states. The multi--steering vehicle with two degree of freedom （2DOF） was modeled. FuU--order observer was designed to reconstruct lateral angle based on input of system and yaw rate that was measured easily, and state feedback controller was designed to assign poles based on the reconstructed states and the expected poles of system. Through simulation, observer tracks states of the vehicle accurately and steerage response is rapid and smooth, and the control system is robust at the range of -f-5; of rear an- gle,and control effect is much better than that of PID control. The results indicate that the designed controller by using the method can improve the dynamic performance and handling stability of multi-- steering vehicle effectively.