基于H_∞的车辆横向运动鲁棒控制

Controlling of vehicle lateral movement based on robust H_∞ theory

为了实现车辆在横向运动过程中的精确控制,提出了一种车辆横向运动鲁棒控制器。通过控制输入转向系统控制器中转角的大小得到理想的车辆质心横向加速度,实现鲁棒稳定和较小的控制误差。首先根据车辆二自由度模型、转向系统摄动、道路摄动建立广义状态方程,再对广义状态方程进行回路变换,求出控制器,最后进行稳定性分析和试验验证。所得的控制器参数随车速变化而变化,且控制器的设计比其他的变参数控制器设计要简单。稳定性分析结果表明,控制器使得系统内部稳定;实车验证结果表明,控制器能够使车辆横向运动的质心加速度误差控制在0.1m/s2以内。

In order to achieve precise control of the lateral movement of vehicles,a robust controller for vehicle motion is proposed.Ideal lateral acceleration of the vehicle mass center is achieved by changing the input angle of the steering controller,and robust stability and smaller control error are obtained.First,according to 2-degree-freedom vehicle model,the steering system and road perturbations,the generalized state equation is established.Then a loop transformation of the state equation is made to get the controller.Finally stability analysis and experiments are carried out. The controller parameters vary with the vehicle speed,and the design of this controller is much simpler than other variable parameter controller.Stability analysis results show that the whole control system has internal stability.Vehicle experiment results show that the controller can make the acceleration error of the lateral motion of the vehicle mass center within 0.1m/s2.