• CN:11-2187/TH
  • ISSN:0577-6686

›› 2007, Vol. 43 ›› Issue (3): 64-70.

• 论文 • 上一篇    下一篇

整车非线性系统的输入输出解耦及解耦比例微分控制

陈无畏;徐娟;胡芳;刘俊;姜武华   

  1. 合肥工业大学机械与汽车工程学院
  • 发布日期:2007-03-15

I/O DECOUPLING AND DECOUPLING PROPOTION AND DIFFERENTIAL CONTROL OF NONLINEAR FULL CAR SYSTEM

CHEN Wuwei;XU Juan;HU Fang;LIU Jun;JIANG Wuhua   

  1. School of Mechanical and Automobile Engineering, Hefei University of Technology
  • Published:2007-03-15

摘要: 根据非线性解耦控制理论设计出解耦控制器,以消除装有主动悬架(ASS)和电动助力转向(EPS)的集成控制器中控制通道的耦合和路面不平度的干扰。为进一步减少响应时间和跟踪误差并降低超调量,在解耦控制器的基础上,设计出动态响应较为理想的解耦比例微分(PD)控制器。仿真结果表明,基于解耦控制的ASS+EPS集成系统,与未集成的ASS或EPS系统相比,前者能更好地改善汽车动力学特性。此外,解耦PD控制与单独的解耦控制相比,在改善整车的行驶平顺性和操纵稳定性等方面效果也更为明显。为验证理论分析和仿真计算的正确性,进行实车道路试验,试验采用自行设计的ASS+EPS集成控制系统,试验结果与仿真计算结果基本吻合,进一步验证了所提方法是正确有效的。

关键词: 非线性系统, 集成系统, 解耦控制, 耦合

Abstract: To decouple the couple action of lateral and vertical motion in the nonlinear model of a full car implemented with the electrical power steering system(EPS) and the active suspension system(ASS), and reduce the disturbance of road roughness, a decoupling controller is designed according to nonlinear decoupling control theory. Based on the above integrated system, a propotion and differential(PD) loop is added to this controller to decrease the response time, tracking error and over-shooting. The simulation results show that decoupling control with PD loop can work better than single decoupling controller; The integrated system with the decouple strategy has better performance than single EPS or ASS controller. Mean-while, to verify the correctness of theoretic analysis and simula-tion, road driving tests with real car implemented ASS+EPS integrated system is carried out. The test results are consistent with the control theory and presented algorithm, and the effec-tiveness is proved.

Key words: Coupling, Decoupling control, Integrated system, Nonlinear system

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