Robust Yaw Stability Controller Design for a Light Commercial Vehicle Using a Hardware in the Loop Steering Test Rig
Robust Yaw Stability Controller Design for a Light Commercial Vehicle Using a Hardware in the Loop Steering Test Rig
复制标题
使用硬件在环转向试验台为轻型商用车设计稳健的偏航稳定性控制器
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
Mustafa Sinal
中科院分区：
文献类型：
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作者：
S. Oncu;S. Karaman;Levent Guvenc;Ş. Ersolmaz;E. Serdar Ozturk;E. Çetin;Mustafa Sinal
针对某轻型商用车的横摆稳定性问题，设计了一种多目标鲁棒参数空间转向控制器，并在半实物转向试验台上进行了试验。线性单轨模型的轻型商用车用于控制器的设计，而其非线性版本的硬件在环仿真过程中使用。多目标设计方法将D-稳定性、混合灵敏度和相位裕度界映射到基于干扰观测器的转向控制器滤波器参数的参数空间中。使用离线和硬件在环仿真测试得到的控制器设计。为此，建立了一个硬件在环仿真试验台与实际的齿轮齿条机构的轻型商用车正在研究。转向控制执行器位于所用双小齿轮转向测试系统的第二个小齿轮上。转向试验台的硬件和几何形状与试验车辆中转向系统的实施相同。使用这种方法避免了不必要的和昂贵的道路测试，因为大多数问题在实验室中进行的硬件在环仿真阶段中被识别和解决，其中转向子系统及其控制器作为硬件存在，而被实现的车辆的其余部分作为真实的时间能力软件存在。硬件在环仿真结果表明，本文提出的控制器设计的有效性，在跟踪期望的转向动力学和抑制偏航干扰力矩。
This paper is on designing a multi-objective, robust parameter space steering controller for yaw stability improvement of a light commercial vehicle and its testing on a hardware-in-the-loop steering test rig. A linear single track model of the light commercial vehicle is used for controller design while its nonlinear version is used during hardware-in-the-loop simulations. The multi-objective design method used here maps D-stability, mixed sensitivity and phase margin bounds into the parameter space of chosen disturbance observer based steering controller filter parameters. The resulting controller design is tested using offline and hardware-in-the-loop simulations. A hardware-in-the-loop simulation test rig with the actual rack and pinion mechanism of the light commercial vehicle under study was built for this purpose. The steering control actuator is placed on the second pinion of the double pinion steering test system used. The hardware and geometry of the steering test rig are identical to the implementation of the steering system in the test vehicle. Unnecessary and expensive road testing is avoided with this approach as most problems are identified and solved in the hardware-in-the-loop simulation phase conducted in the laboratory where the steering subsystem and its controller exist as hardware and the rest of the vehicle being implemented exists as real time capable software. Hardware-in-the-loop simulation results show the effectiveness of the controller design proposed in this paper in tracking desired steering dynamics and in rejecting yaw disturbance moments.