摘要
The uncertainty influences may result in performance deterioration and instability to the steer by wire(SBW) system. Thus, it must make the control system keep robust stability from uncertainty, and have good robustness. In order to effectively restrain the interference and improve steering stability, this paper presents a μ synthesis robust controller based on SBW system, which considers the effect of model uncertainty and external disturbance on the system dynamics. Taking the ideal yaw rate tracking, interference suppression and excellent robustness as the control objectives, the μ synthesis robust controller is designed using linear fractional transformation theory to deal with the uncertainty. Then, it is testified through time domain and robustness simulation analysis. Simulation results show that the proposed controller can not only ensure robustness and robust stability of the system quite well, but improve handling stability of the vehicle effectively. The results of this study provide certain theoretical basis for the research and application of SBW system.
The uncertainty influences may result in performance deterioration and instability to the steer by wire （SBW） system. Thus, it must make the control system keep robust stability from uncertainty, and have good robustness. In order to effectively restrain the interference and improve steering stability, this paper presents a μ synthesis robust controller based on SBW system, which considers the effect of model uncertainty and external disturbance on the system dynamics. Taking the ideal yaw rate tracking, interference suppression and excellent robustness as the control objectives, the μ synthesis robust controller is designed using linear fractional transformation theory to deal with the uncertainty. Then, it is testified through time domain and robustness simulation analysis. Simulation results show that the proposed controller can not only ensure robustness and robust stability of the system quite well, but improve handling stability of the vehicle effectively. The results of this study provide certain theo- retical basis for the research and application of SBW system.
作者
WANG ChunYan
DENG Ke
ZHAO WanZhong
ZHOU Guan
ZHOU Dong
WANG ChunYan DENG Ke ZHAO WanZhong ZHOU Guan ZHOU Dong(Department of Automotive Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China)
基金
supported by the Visiting Scholar Foundation of the State Key Lab of Mechanical Transmission in Chongqing University(Grant Nos.SKLMT-KFKT-2014010&SKLMT-KFKT-201507)
the National Natural Science Foundation of China(Grant Nos.51375007&51605219)
the Fundamental Research Funds for the Central Universities(Grant No.NE2016002)
the Natural Science Foundation of Jiangsu Province(Grant No.SBK2015022352)
