摘要
针对汽车线控转向系统的鲁棒性问题,对汽车线控转向的原理和结构方面进行了研究;对汽车线控转向的动力学模型进行了建立以及简化;对汽车线控转向控制系统进行了分析与设计。以H∞运算为基础,利用反求法,避开了加权函数的选择,通过观察H∞运算中S/T奇异值曲线,运用符合线控转向鲁棒性能要求的预期S/T曲线逆转了该闭环系统,构建出了闭环传递函数,提出了一种基于改进H∞算法的线控转向系统。通过对线控转向系统的时间域和频率域的分析,以及线控转向系统模型干涉和参数扰动下的仿真结果分析,验证了改进H∞算法的控制策略的准确性。研究结果表明,基于改进H∞算法的线控转向系统在保证了鲁棒稳定性的前提下,具有更好的响应性能;并且改进的控制器比传统的控制器具有更好的鲁棒性。
Aiming at the problems of robust performance in the vehicle steering by wire （SBW） system, the principle and structure of SBW were researched, then the simplified SBW model was built up . The SBW control system was analyzed and designed ,which is based on H∞ , using reverse method to avoid the choice of weighting function, by observing S / T singular value curve in the operation of the H∞ , in line with the use of SBW robust performance as expected requirements rod S / T curve of the reversing loop system, the closed loop transfer function was constructed, then, a SBW based on an improved H∞ algorithm was advanced. The accuracy of an improved H∞ algorithm control strategy was tested through the analysis of SBW in time and frequency domains and the the simulation result under the interference and parameter perturbation. The results indicate that the SBW based on an improved H∞ algorithm has a stable robust performance, which has a better response performance, and the improved controller has a better robust performance than before.
出处
《机电工程》
CAS
2014年第11期1436-1440,1478,共6页
Journal of Mechanical & Electrical Engineering
关键词
线控转向
鲁棒性
H∞运算
steering by wire（SBW）
robust
H∞ algorithm
