车辆主动前轮转向与主动悬架的自抗扰控制方法

Active disturbance rejection control method of active front wheel steering and active suspension system of vehicle

为实现主动前轮转向系统与主动悬架系统的集成及解耦控制,该文采用自抗扰方法对两个子系统进行集成控制,设计了主动前轮转向和主动悬架的自抗扰控制器,并进行了路面扰动输入下的双移线试验。研究了车辆的路径跟踪性能、转向路感、转向灵敏度和舒适性,对比分析了无控制、主动转向单独控制和主动悬架单独控制系统集成的控制特性。结果表明,自抗扰集成控制的主动前轮转向与主动悬架能同时改善转向性能指标和舒适性能指标,提高了车辆操纵稳定性和乘坐舒适性。自抗扰控制器设计无需精确数学模型,干扰抑制也无需扰动模型,控制方法简单,鲁棒性好,易实现转向、悬架及各悬架间的解耦控制。

In order to realize the integration and decoupling control of the active front wheel steering （AFS） system and the active suspension system （ ASS ） , the active disturbance rejection （ ADR） method for integrated control of two subsystems is proposed. The active disturbance rejection controllers （ ADRC） of the AFS and the ASS are designed and the double lane change test is carried out under the road disturbance input. The path tracking performance, the steering road feel, the steering sensitivity and the ride performance of vehicle are studied, and the characteristics of the integrated control system is analyzed by comparing with the system without control and the AFS- only/ASS-only system. The results show that the ADR integrated control of the AFS and the ASS can improve steering performances and comfortable performances, and increase the handling stability and the ride comfort. The design of the ADRC needs no accurate mathematical models and the interference suppression needs no disturbance models, the control method is simply and in good ro-bustness. The decoupling control between the steering and suspension and the suspension each other can be easily realized by the ADR method.