Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in orde...Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system（AFS）controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control（GIMC）that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections：a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters＇uncertainties and some external disturbances.Simulations of double lane change（DLC）maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle＇s parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller.展开更多
内模控制方法因具有诸多优点而引起了业界的广泛关注,但难以在DCS中直接实现,现有的IMC-PID设计方法存在着只针对特定模型才能设计或通用设计但近似程度偏低的问题,提出了一种新的IMC-PID控制器设计方法,采用一般形式的Pade多项式逼近IM...内模控制方法因具有诸多优点而引起了业界的广泛关注,但难以在DCS中直接实现,现有的IMC-PID设计方法存在着只针对特定模型才能设计或通用设计但近似程度偏低的问题,提出了一种新的IMC-PID控制器设计方法,采用一般形式的Pade多项式逼近IMC-PID转化过程中出现的复杂项,然后对照该Pade多项式和PID控制器表达式设计PID控制器参数。该方法广泛适用于各种单变量对象,也能够毫无修改地应用于多变量系统的IMC-PID控制器参数设计。与基于M ac laurin展式的IMC-PID设计方法相比,该方法提供了具有更强理论依据的微分滤波时间常数计算式,能够获得与内模策略更为接近的控制效果。展开更多
The motivation of this work is to obtain single PI/PID tuning formula for different types of processes with enhanced disturbance rejection performance. The proposed tuning formula consistently gives better performance...The motivation of this work is to obtain single PI/PID tuning formula for different types of processes with enhanced disturbance rejection performance. The proposed tuning formula consistently gives better performance in comparison to several well-known methods at the same degree of robustness for stable, integrating and unstable processes. For the selection of the closed-loop time constant(τc), a guideline is provided over a broad range of time-delay/time-constant ratios on the basis of the peak of maximum sensitivity(Ms). An analysis has been performed for the uncertainty margin with the different process parameters for the robust controller design. It gives the guideline of the Ms-value settings for the PI controller designs based on the process parameters uncertainty. Furthermore, a relationship has been developed between Ms-value and uncertainty margin with the different process parameters(k, τ and θ). Simulation study has been conducted for the broad class of processes and the controllers are tuned to have the same degree of robustness by measuring the maximum sensitivity, Ms, in order to obtain a reasonable comparison.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.11072106,51375009)
文摘Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system（AFS）controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control（GIMC）that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections：a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters＇uncertainties and some external disturbances.Simulations of double lane change（DLC）maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle＇s parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller.
文摘内模控制方法因具有诸多优点而引起了业界的广泛关注,但难以在DCS中直接实现,现有的IMC-PID设计方法存在着只针对特定模型才能设计或通用设计但近似程度偏低的问题,提出了一种新的IMC-PID控制器设计方法,采用一般形式的Pade多项式逼近IMC-PID转化过程中出现的复杂项,然后对照该Pade多项式和PID控制器表达式设计PID控制器参数。该方法广泛适用于各种单变量对象,也能够毫无修改地应用于多变量系统的IMC-PID控制器参数设计。与基于M ac laurin展式的IMC-PID设计方法相比,该方法提供了具有更强理论依据的微分滤波时间常数计算式,能够获得与内模策略更为接近的控制效果。
基金the support provided by King Abdulaziz City for Science and Technology (KACST) through the "KACST Annual Program" at King Fahd University of Petroleum & Minerals (KFUPM) for funding this work through project number AT-32-41
文摘The motivation of this work is to obtain single PI/PID tuning formula for different types of processes with enhanced disturbance rejection performance. The proposed tuning formula consistently gives better performance in comparison to several well-known methods at the same degree of robustness for stable, integrating and unstable processes. For the selection of the closed-loop time constant(τc), a guideline is provided over a broad range of time-delay/time-constant ratios on the basis of the peak of maximum sensitivity(Ms). An analysis has been performed for the uncertainty margin with the different process parameters for the robust controller design. It gives the guideline of the Ms-value settings for the PI controller designs based on the process parameters uncertainty. Furthermore, a relationship has been developed between Ms-value and uncertainty margin with the different process parameters(k, τ and θ). Simulation study has been conducted for the broad class of processes and the controllers are tuned to have the same degree of robustness by measuring the maximum sensitivity, Ms, in order to obtain a reasonable comparison.
