受饱和约束的车辆转向非线性鲁棒模糊分布控制

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摘要针对极限状态下车辆转向非线性和执行器饱和问题，研究主动前轮转向（active front steering ,AFS）和直接横摆力矩（direct yaw moment ,DYC）对横摆-侧倾稳定的集成控制。首先采用Takagi-Sugeon方法建立车辆3自由度横摆侧倾模型，结合模糊观测器实时获取模型动态参数。为准确反映车辆转向稳态过程，在T-S框架下建立改进横摆理想参考模型。考虑到极限转向对前轮侧偏特性的影响，构建T-S框架下主动前轮输入的动态饱和阈值。引入松弛因子提高AFS和DYC的执行器利用率，将反馈输入的饱和影响作为有界扰动进行控制。基于分布补偿结构设计状态反馈模糊分布控制器 (parallel distributed compensation-TS, PDC-TS)，采用范数有界的侧翻稳定阈作为侧倾性能约束，将车辆横摆-侧倾稳定性的H∞性能转换为线性矩阵不等式（linear matrix inequalities,LMIs）凸优化问题。最后联合Trucksim-Matlab/Labview软件进行控制仿真和硬件在环验证，结果表明：PDC-TS方法对强非线性转向过程的控制更加准确，执行器能力利用更充分，并在输入饱和约束下保持控制稳定性。

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	孙船斌1
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	3
	方琳1
	童宝宏1
	2

关键词 ：车辆系统, 横摆稳定, 横向载荷转移, 非线性鲁棒控制, 饱和约束

Abstract：Aiming at nonlinear steering and actuator saturation problems in extreme state, the integrated control of active front steering (AFS) and direct yaw moment (DYC) of yaw-roll stability is studied. A 3-DOF yaw-roll vehicle model was established with Takagi-Sugeon method, uniting dynamic parameters fuzzy observer. A novel yaw ideal reference model was conducted under T-S framework, accurately reflecting vehicle steady-state during steering. The dynamic saturation threshold of active front steering was constructed under T-S framework, considering the effect of extreme steering on sideslip characteristics of front wheels. A relaxation factor was introduced to improve actuator of AFS and DYC efficiency, and saturation deviation of feedback control input was controlled as a bounded disturbance. A state feedback fuzzy controller PDC-TS(parallel distributed compensation-TS) was designed based on parallel-distributed compensation (PDC) scheme, with the norm-bounded rollover stability threshold was adopted as rollover performance constraint, and optimal H∞ performance control was derived in terms of linear matrix inequalities(LMIs） convex optimization problem for vehicle yaw-roll stability. Finally, control simulation and hardware in loop simulation for the controller was constructed with TruckSim-Matlab/Labview softwares, the obtained results show that, PDC-TS method is more precisely to control strong nonlinearity of vehicle during steering process, actuator implementing is more efficiently, and stability is always maintained with saturation input.

Key words： Vehicle system Yaw stability Lateral load transfer Nonlinear robust control Saturation constraint

收稿日期: 2021-04-13 出版日期: 2022-02-28

引用本文:

孙船斌1,2,3，方琳1，童宝宏1,2. 受饱和约束的车辆转向非线性鲁棒模糊分布控制[J]. 振动与冲击, 2022, 41(4): 77-85.
SUN Chuanbin1,2,3, FANG Lin1, TONG Baohong1,2. Nonlinear robust fuzzy distributed control of vehicle steering with saturation constraint. JOURNAL OF VIBRATION AND SHOCK, 2022, 41(4): 77-85.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2022/V41/I4/77

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