摘要
本文在比例四轮转向汽车模型的基础上,提出了一种新的汽车稳定性控制(VSC)方法来提高汽车的操纵稳定性,即在 必要时通过控制改变汽车两侧轮胎的纵向力,从而形成直接横摆力矩控制(DYC)。通过模型跟踪控制技术,基于H∞控制理 论,使用MATLAB-LMI工具箱设计系统反馈控制器,使得实际汽车模型在附加横摆力矩的作用下迅速跟踪理想模型。本文对 控制系统在不同车速下的阶跃响应做了仿真,结果证明本控制方法对比普通四轮转向控制模型,使操纵稳定性得到较大提高。
Based on the proportional 4ws model, this paper proposes a new VSC scheme for improving vehicle performance and stability. It consists of 4WS and DYC, which is that the driving/braking force is controlled depending on the vehicle state. Using model-matching technology and H∞ theory, we designed the feedback controller by MATLAB-LMI toolbox, so the actual vehicle can trace desired model quickly on the action of additional yaw-moment. Several simulations were conducted at low and high speed, and the results show that this VSC contolled vehicle has better performance and stability than FWS and 4WS vehicle.
出处
《精密制造与自动化》
2005年第1期49-52,共4页
Precise Manufacturing & Automation
