• CN:11-2187/TH
  • ISSN:0577-6686

›› 2009, Vol. 45 ›› Issue (1): 300-308.

• 论文 • 上一篇    下一篇

基于线性变参数建模的汽车横摆力矩增益调度控制

杨秀建;王增才   

  1. 山东大学机械工程学院
  • 发布日期:2009-01-15

Linear Parameter-varying Modeling Method Based Gain-scheduling Control of Yaw Moment for Vehicle Stability

YANG Xiujian;WANG Zengcai   

  1. School of Mechanical Engineering, Shandong University
  • Published:2009-01-15

摘要: 提出一种基于线性变参数(Linear parameter-varying,LPV)方法的汽车横摆力矩鲁棒增益调度控制方案。建立横摆力矩误差动态模型,选择路面附着系数和汽车纵向速度为调度变量,将误差动态模型转化为关于路面附着系数和汽车纵向速度及其组合的LPV模型,将鲁棒增益调度横摆力矩控制器的设计转化为对多胞模型16个顶点的线性H 控制器设计。通过求解17个线性矩阵不等式可以求得共同的Lyapunov矩阵,在保证系统二次稳定性和二次H 性能指标的前提下对每一个顶点离线设计了H 控制器,在线根据工况加权各顶点控制器获得该工况下的全局控制器。8自由度模型的非线性仿真表明基于LPV的鲁棒增益调度控制器比单一的H 控制器对工况变化具有更强的适应性。

关键词: 横摆力矩控制, 汽车稳定性, 汽车系统动力学, 增益调度控制

Abstract: A robust gain-scheduling yaw moment control scheme is proposed based on linear parameter-varying (LPV) modeling method. An error dynamic model for vehicle yaw moment control is built for controller design. Then the error dynamic model is transformed into a LPV model with surface adhesion coefficient, longitudinal velocity and the combination of the two as varying parameters by selecting surface adhesion coefficient and longitudinal velocity as scheduling variables for gain-scheduling control. Considering the LPV model with four varying parameters, the design of the controller is transformed into the problem of linear H controller design for each of the 16 vertices of the polytopic model. 16 vertical H controllers are designed by solving 17 linear matrix inequalities, for each of which the closed-loop system is quadratic stability with quadratic H performance and the controller for a certain working condition is obtained online by weighting the 16 vertical controllers. Test results obtained by numerical simulations on an 8-DOF nonlinear vehicle model demonstrate that the gain-scheduling based H controller is much better in adaptability to the variation of operating conditions than the single H controller.

Key words: Gain-scheduling control, Vehicle stability, Vehicle system dynamics, Yaw moment control

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