Evaluation of chassis control method through optimisation-based controllability region computation
Evaluation of chassis control method through optimisation-based controllability region computation
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DOI：
10.1080/00423114.2012.657653
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发表时间：
2012-01-01
影响因子：
3.6
通讯作者：
Horiuchi, Shinichiro
中科院分区：
文献类型：
--
作者：
Horiuchi, Shinichiro
提出了一种新的基于可控域计算的汽车操纵性系统评价方法。在该方法中，计算了可控区域，即通过使用允许控制可以将车辆初始状态转移到状态空间中的稳定平衡点的集合。开环系统的可控区的大小可以用来衡量控制方法的内在性能，因为如果车辆状态移出可控区，没有控制器能够保持车辆的稳定性。将能控域边界的确定问题表示为一个最优化问题，从而可以确定使初始状态范数最大的控制。在此基础上，对四轮转向控制和直接横摆力矩控制的性能进行了评价和比较。
This paper proposes a new systematic evaluation approach for vehicle maneuverability based on controllability region computations. In this approach, the controllability region, defined as the set of vehicle initial states that can be transferred to a stable equilibrium point in the state space by using allowable controls, is calculated. The size of the controllability region for an open-loop system can serve as a measure of the intrinsic performance of the control method, because if the vehicle state is displaced outside of the controllability region, no controller will be able to maintain vehicle stability. The problem of determining the controllability region boundary is formulated as an optimisation problem such that the controls maximising the norm of the initial state can be determined. Thereby, the performances of four-wheel steering control and direct yaw moment control are evaluated and compared by the proposed procedure.