基于L_2干扰抑制理论的电动汽车车身稳定系统控制

Control of electric vehicle body stability system based on L_2 disturbance attenuation theory

考虑四轮轮毂电动汽车(4WID)四轮驱动力矩独立可控的特点,针对路面干扰、路面不规则应力、车轮侧偏刚度系数动态变化、传感器量测误差等干扰因素引起的左右车轮垂直负载不平衡问题提出了一种基于直接横摆力矩控制策略的L_2干扰抑制算法研究4WID电动汽车的车身稳定控制问题。通过对车身稳定系统误差模型的推导,引入前轮转向角干扰,采用Backstepping方法实现有限L_2增益系统的严格耗散,设计了多目标跟踪鲁棒干扰抑制车身稳定控制器。最后基于Carsim和Simulink联合仿真平台证明了提出的控制系统的跟踪性能和扰动抑制能力。

Aiming at the imbalance of left and right wheels’ vertical load caused by road disturbance, irregular stress, dynamic variation of wheel lateral stiffness coefficient and measurement error from the sensors, an L2 disturbance attenuation algorithm based on direct yaw moment control strategy is proposed to study the body stability control of 4 WID electric vehicle. By deducing the error model of the body stability system and introducing the front wheel steering angle disturbance, Backstepping method is used to achieve strict dissipation of the limited L2 gain system and design a multi-objective tracking robust disturbance attenuation controller for body stability.