摘要
推导了多轴转向车辆三自由度动力学模型,用Matlab软件和H2/H∞优化控制理论,设计了三自由度多轴转向车辆横摆率跟踪控制的H2/H∞混合最优控制器,建立了理想跟踪目标模型.以三轴转向车辆为对象,分析了该控制器对多轴转向车辆转向性能的影响.仿真分析结果表明,H2/H∞混合最优控制器使得多轴转向车辆具有很好的系统性能,同时保持了良好的鲁棒性能,提高了车辆的转向性能,保证了多轴转向车辆的安全性和操纵稳定性.
A 3-DOF dynamic model of multi-axle steering vehicle is deduced. According to the H2/H∞ theory, optimum controller of multi-axle steering vehicle based on yaw-rate tracking control is designed by using Matlab software, and the ideal tracking objection is built. The effect of H2/H∞ controller on the steering characteristics of multi-axle steering vehicle is analyzed. The result indicates that the H2/H∞ controller has good dynamistic and robustness. The steering performance of multi-axle steering vehicle is improved, and the safety and handling and stability of multi-axle steering vehicle are guaranteed.
出处
《重庆工学院学报（自然科学版）》
2008年第8期6-10,共5页
Journal of Chongqing Institute of Technology
基金
集美大学博士科研启动基金
