基于模型匹配的后轮主动转向车辆μ综合控制研究

μ-Synthesis Control Research of Active Rear Wheel Steering Vehicle Based on Model Matching

针对中高速车辆转向时对操纵性以及稳定性的多目标性能要求,提出了用鲁棒控制模型匹配的方法来设计MIMO的控制策略。为此建立了考虑模型摄动的三自由度的整车动力学模型以及转向执行器模型,以二自由度模型为参考模型,以匹配参考模型为目标来设计μ控制器。对设计出的μ控制器和H∞控制器进行μ分析,结果表明,2种控制器在整个频段都能满足鲁棒稳定性的要求,且H∞控制器在低频段的鲁棒稳定性相比稍好,但μ控制器在最坏摄动下的鲁棒性能更佳,能有效地处理稳定性和性能的折中问题。仿真试验表明,μ控制器的控制效果能很好的跟踪参考状态响应,明显改善车辆的操纵性和稳定性。

In view of the multi-objective performance requirement of maneuverability and stability onthe vehicle steering at a high speed, the model matching with robust control method was proposed to de-sign the MIMO control strategy. Consequently, 3-DOF vehicle dynamics model and steering actuatormodel were established considering the model perturbation. μ controller was designed with the 2-DOFmodel as the reference model and matching reference model as the target. The H∞controller and μ con-troller were analyzed with the method of μ analysis. The result shows that two kinds of controllers canmeet the requirement of the robust stability in the whole frequency band, and the robust stability of H∞controller is slightly better in low frequency band. But in the worst perturbation input, the robust perfor-mance of μ controller is better, and it can effectively deal with the compromise between the stabilityand performance. The simulation test shows that the control effect of μ controller can primely track thereference state response, and improve the maneuverability and stability of the vehicle obviously.