Displacement and force coupling control design for automotive active front steering system
Displacement and force coupling control design for automotive active front steering system
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DOI：
10.1016/j.ymssp.2017.12.037
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发表时间：
2018-06
影响因子：
8.4
通讯作者：
Wanzhong Zhao;Han Zhang;Yijun Li
中科院分区：
文献类型：
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作者：
Wanzhong Zhao;Han Zhang;Yijun Li
提出了一种汽车主动前轮转向系统的位移力耦合控制设计方法。为了研究汽车AFS系统的位移和力特性，介绍了AFS系统模型、汽车模型、轮胎模型以及驾驶员模型。然后，考虑到轮胎力和外部干扰的非线性特性，设计了一种鲁棒横摆角速度控制方法，通过应用转向电机产生主动转向角来调节车辆的横摆稳定性。基于混合H2/H∞控制，通过H∞范数约束增强系统的鲁棒性和横摆角速度跟踪性能，并通过H2范数捕获控制量。另外，本文在AFS系统的基础上，增加了一个行星齿轮组和一个助力电机来实现路感控制，通过补偿的方法消除多余转向角的影响。在不同的驾驶条件下，通过仿真和实验完成了整个系统的评估。仿真和实验结果表明，所设计的控制系统具有良好的跟踪性能和路感性能，能够提高汽车的转弯稳定性和操纵性。
A displacement and force coupling control design for active front steering (AFS) system of vehicle is proposed in this paper. In order to investigate the displacement and force characteristics of the AFS system of the vehicle, the models of AFS system, vehicle, tire as well as the driver model are introduced. Then, considering the nonlinear characteristics of the tire force and external disturbance, a robust yaw rate control method is designed by applying a steering motor to generate an active steering angle to adjust the yaw stability of the vehicle. Based on mixed H2/H∞control, the system robustness and yaw rate tracking performance are enforced by H∞norm constraint and the control effort is captured through H2norm. In addition, based on the AFS system, a planetary gear set and an assist motor are both added to realize the road feeling control in this paper to dismiss the influence of extra steering angle through a compensating method. Evaluation of the overall system is accomplished by simulations and experiments under various driving condition. The simulation and experiment results show the proposed control system has excellent tracking performance and road feeling performance, which can improve the cornering stability and maneuverability of vehicle.