摘要
以汽车四轮转向三自由度模型为基础,采用H∞性能指标进行评价,建立了汽车四轮转向H∞控制系统。并运用H∞控制理论的分析方法,采用前馈和反馈的组合控制进行了最优控制设计。仿真结果表明,所设计出的H∞控制器能够很好地抑制外界干扰对系统稳定性的影响,有效地提高了汽车四轮转向的鲁棒性能和操作稳定性,达到了预期控制效果。
The 4WS H∞control system evaluated by H∞ performance index is built based on the 3DOF 4WS system. At the same time, the optimization controlling design with the method of H∞ control theory is made in combination with feedforward and feedback control style. At last, the simulation result shows that the designed H∞ controller can attenuate the external disturbance perfectly and enhance the system robust performance and control stabilization effectively. Moreover, the expected controlling effect can be obtained.
出处
《天津工程师范学院学报》
2006年第2期8-11,共4页
Journal of Tianji University of Technology and Education
基金
天津市科技发展计划项目(033105011)
关键词
四轮转向
侧倾
最优控制
鲁棒性
four-wheel steering
roll
optimization control
robustness
