基于内膜原理的多轴转向无静差跟踪鲁棒控制

Robust Tracking Control of Multi-steering Vehicle with No Static Error Based on IMP

为提高多轴转向车辆跟踪控制精度及其抗干扰能力,提出基于内模原理(IMP)的无静差跟踪鲁棒控制方法。建立多轴转向二自由度线性模型,并基于IMP进行无静差跟踪控制器设计,利用极点配置方法求解控制器;对某三轴转向车辆进行跟踪控制器设计,并和PID控制对比仿真,在一定干扰下,内膜控制跟踪横摆角速度阶跃和斜坡信号的稳态误差均为零,调节时间在0.09 s以内,而PID控制稳态误差最大0.2°/s,调节时间最大为0.6 s。结果表明控制算法能使横摆角速度无静差跟踪参考输入,并具有一定的鲁棒性,且侧偏角响应也得到改善,跟踪效果明显优于PID控制,提高了多轴转向的操纵稳定性和安全性。

To enhance the tracking control accuracy and disturbanceresistance of a multisteering vehicle, the pa per proposes a method for robust control of multisteering vehicle with no static error tracking based on the Internal Model Principle （IMP）. The linear model of the multisteering vehicle with two degrees of freedom is established. The tracking controller is designed and solved with the pole assignment method. The tracking control system of a certain threewheel steering vehicle is designed, and its simulation is carried out; the simulation results are com pared with those of the PID control method. With some disturbance, the internal model controller tracks the contin uous step and the ramp signal respectively. The tracking results show that the static errors for both are zero and that their settling time is within 0.09 s. With the PID control method, the maximum static error is 0.2 s and the max imum settling time is 0.6 s. The tracking results also indicate that the robust control method can make yaw rate track its reference input with zero static error and has certain robustness compared with the PID control method. Meanwhile, the response of sideslip angle is improved.