Input-Output Decoupling Control by Measurement Feedback in Four-Wheel-Active-Steering Vehicles
Input-Output Decoupling Control by Measurement Feedback in Four-Wheel-Active-Steering Vehicles
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DOI：
10.1109/cdc.2006.377274
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发表时间：
2006-12
期刊：
影响因子：
--
通讯作者：
R. Marino;F. Cinili
中科院分区：
文献类型：
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作者：
R. Marino;F. Cinili
考虑四轮转向车辆的标准二阶单轨线性化模型：横摆角速度和横向速度是要控制的输出，而前和后转向角是控制输入（仅考虑前轮相对于驾驶员命令的附加转向角）。结果表明，横向速度动态和横摆角速度动态可以通过反馈纵向速度，横摆角速度和横向加速度测量解耦：横向速度测量是不需要的。横摆角速度跟踪误差动态遵循具有任意极点的二阶参考模型，而横向速度动态以指数方式趋于零，具有车辆相关的时间常数，并且横向加速度趋于与横摆角速度成比例。在非线性三阶单轨模型上的仿真表明，闭环系统的性能有了显著的改善：稳定区域更大，带宽更大，共振抑制，机动性更好。输入输出解耦控制的一个关键特征是改善了舒适性，因为横向速度和横向加速度与横摆角速度之间的相位滞后都大大减小
The standard second order single track linearized model for four-wheel-steering vehicles is considered: yaw rate and lateral speed are the outputs to be controlled while front and rear steering angles are the control inputs (only additive steering angles with respect to the pilot commands are considered for the front wheels). It is shown that the lateral speed dynamics and the yaw rate dynamics can be decoupled by feeding back longitudinal speed, yaw rate and lateral acceleration measurements: lateral speed measurements are not required. The yaw rate tracking error dynamics follow a second order reference model with arbitrary poles, while the lateral speed dynamics tend exponentially to zero with a vehicle-dependent time constant and lateral acceleration tends to be proportional to the yaw rate. Simulations on a nonlinear third order single track model show significant improvements in the closed loop behaviour: larger stability regions, larger bandwidth, resonances suppression, improved manoeuvrability. A key feature of the input-output decoupling control is the improved comfort since both the lateral speed and the phase lag between lateral acceleration and yaw rate are greatly reduced