| 基于策略分层的汽车悬架与转向系统主动控制 |
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| 引用本文： | 祝辉,陈无畏.基于策略分层的汽车悬架与转向系统主动控制[J].农业机械学报,2008,39(10):1-6. |
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| 作者姓名： | 祝辉 陈无畏 |
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| 作者单位： | 合肥工业大学机械与汽车工程学院,230009 |
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| 基金项目： | 国家自然科学基金，安徽省科技攻关项目 |
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| 摘 要： | 建立了悬架系统7自由度的主动控制模型,设计了悬架系统的最优控制器,运用分离定理,得到随机状态反馈调节器的最优控制率.建立了主动前轮转向系统的转向模型,并设计了可实时跟踪目标横摆角速度的滑模变结构控制器.为改善转向工况下车辆的平顺性,在2个子系统的基础上设计了一个上层协调控制器.协调控制器根据车辆传感器信息,实时地输入给转向和悬架子系统不同的跟踪目标和控制参数,以使车辆获得最好的性能.仿真结果表明:所设计的控制器能够较好地提高整车的平顺性和操纵稳定性.
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| 关 键 词： | 主动悬架 主动前轮转向 分层 仿真 |
Active Control of Vehicle Suspension and Steering System Based on Hierarchical Strategy |
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| Zhu Hui,Chen Wuwei.Active Control of Vehicle Suspension and Steering System Based on Hierarchical Strategy[J].Transactions of the Chinese Society of Agricultural Machinery,2008,39(10):1-6. |
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| Authors: | Zhu Hui Chen Wuwei |
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| Abstract: | Seven degrees of freedom active control model was set up for suspension system, the optimal controller was designed, and the optimal control rate of the stochastic state feedback regulator was obtained by using the separation theorem. The slide mode controller (SMC) which could track the target yaw rate was designed after setting up the mode of the active front steering system. In order to improve the vehicle ride comfort on steering condition, one upper coordinated controller was designed. Based on the vehicle sensors, the upper coordinated controller has been real-timely inputted into the steering and suspension system different tracking targets and controls parameters. The simulation results showed that the controllers could preferably improve the ride comfort and the maneuver stabilization of the vehicle. |
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