摘要
建立了电动助力转向(EPS)系统和二自由度车辆的线性变参数(LPV)模型,设计了LPV/H∞鲁棒控制器,重点考虑了EPS系统本身参数摄动对其性能的影响;基于MATLAB对所采用的控制方法进行了仿真。仿真结果表明,LPV/H∞控制方法比一般的H∞方法具有更好的鲁棒性,可使转向系统的助力性能和路感得到提高,车辆的转向操纵稳定性也得到明显改善;基于LabVIEW PXI系统建立了EPS系统硬件在环试验台,在硬件在环试验台上,采用共轭梯度法实现了LPV/H∞控制方法的硬件在环试验,试验结果同样证明了所采用的控制算法的有效性。
A LPV model of EPS system and two DOF vehicle mode were built and the LPV/H∞robust controller was designed,the parameter perturbation of EPS was considered how to impact its performance;the adopted control method was simulated based on MATLAB software and the results indicate that the LPV/H∞control method has better robustness compared with general H∞ control method,which can enhance the power-assisted ability and the road feel of the steering system and improve the vehicle handling and stability.The EPS hardware in loop test bench was built based on LabVIEW PXI system,the hardware in loop test of LPV/H∞control method was realized based on conjugate gradient method,and the results indicate that the adopted control method is validity.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2015年第4期545-552,共8页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51075112
51175135)
安徽省自然科学基金资助项目(2013AKZR0077)
关键词
电动助力转向系统
线性变参数
H∞控制
硬件在环
electric power steering（EPS）system
linear parameter varying（LPV）
H∞ control
hardware in loop
