基于模型分解的车辆侧倾控制器设计

Design of Controller for Vehicle Roll Based on Model Decomposition

八自由度车辆模型所包含的控制量较多,对其直接分析控制有一定的难度,为此,提出一种模型分解方法。将原有整车模型分解成3部分,使每部分模型包含的控制量较整车模型明显减少,便于对每部分单独设计控制器。同时对分解后模型的车辆侧倾角及其速度部分,使用线性二次型最优控制方法,设计状态最优控制器实现车辆稳定性控制。计算结果表明,该控制器具有较好的控制效果,既降低了分解后模型的分析难度又保证了车体控制的精度。

Eight degrees of freedom vehicle model contains many control variables, it is difficult to directly analyze and control. Based on the eight degrees of freedom vehicle model, a model decomposition method is proposed, which decomposes the original model into three parts. Every part includes less control variables. It is easy to design a controller for each part. Considering the roll angle and the roll angular speed of the decomposed model, the linear quadratic optimal control method is introduced to design the optimal state controller, which can achieve vehicle＇ s stability control. It is proved that the designed controller shows more excellent control effect.