摘要
为改善电动轮汽车差速转向系统的转向路感,建立了电动轮汽车差速转向和整车系统的动力学模型。基于鲁棒控制理论,在保证H∞性能的前提下,设计了系统PID控制器,并进行了仿真分析。结果表明,基于H∞-PID控制的差速转向系统可在满足系统H∞鲁棒性能的基础上,进一步减小系统的静态误差,提高差速转向路感系统的灵敏度和系统精度,使驾驶员获得更为满意的转向路感。
In order to improve the road feel of differential steermg system, the clynamlcs moctels for the vehicle including the differential steering system were built. Based on the robust control theory, guaranteeing the H property, a PID controller was designed for the novel differential steering system and the simulation was conducted. The simulation results show that the novel differential steering system with the H--PID controller can meet robust performance of H. and decrease static errors of the system. It can improve the steering sensibility and system accuracy, then the driver can obtain more satisfied steering road feel.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2014年第1期87-91,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51375007
51005115
51205191)
关键词
车辆工程
电动轮汽车
差速转向
路感控制
vehicle engineering in--wheel electric vehicle differential steering road feel control
