车辆模型不确定性的驾驶员转向内模控制

Internal Model Control of Driver Steering in Presence of Vehicle Model Uncertainty

对车辆模型不确定性有较多解决方法,但与人类驾驶员控制行为相比有较大差异,体现在控制频率快,控制量变化大,控制不稳定.针对车辆模型不确定性问题,以车辆的线性动力学特性为参考,其逆模作为驾驶员转向控制内模,设计内模控制器,并应用H_∞理论,运用加权指标设计和优化内模控制器,并进行仿真分析.仿真结果表明,设计的内模控制器能更有效的抑制模型不确定性,获得较满意的控制效果.

There are many solutions to the uncertainty of vehicle models.Compared with the human pilot control behavior,the uncertainty of vehicle model is quite different,which reflects in the fast control frequency,large control variation and unstable control.For the problem of vehicle model uncertainty,the vehicle’s linear dynamic characteristics are referred to and its inverse model is used as the driver’s steering control internal model to design the internal model controller.Moreover,on the basis of H∞theory,the weighted index design is used to optimize the internal model controller and implement the simulation analysis.Simulation results show that the design of the internal model controller can more effectively inhibit the model uncertainty and obtain satisfactory control effect.