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摘要: 为解决多轴转向车辆模型非线性和各种干扰影响下的控制问题, 分析了轮胎非线性和外界干扰, 建立多轴转向车辆的二自由度非线性模型, 应用T-S模糊理论, 将其转换为局部线性的T-S模糊模型。基于并行分配补偿法(PDC)和H∞鲁棒控制理论, 设计了转向系统的模糊PDC H∞鲁棒控制器, 并利用线性矩阵不等式和模糊逻辑控制工具求解控制器。在正弦波和阶跃信号干扰下, 车速为80 km·h-1时, 进行前轮转向回正和前轮角阶跃输入转向的仿真试验。仿真结果表明: 侧偏角和横摆角速度动态响应的超调均为0, 且均在0.06 s内达稳态值; 前轮转向回正试验的侧偏角和横摆角速度稳态值均为0, 前轮角阶跃输入转向试验的相应值分别为0和1.2(°)·s-1, 且稳态横摆角速度增益为0.24[(°)·s-1]·(°)-1。这说明了多轴转向车辆在模糊PDC H∞鲁棒控制下的高速转向平稳迅速, T-S模糊建模和鲁棒控制器设计算法对解决轮胎非线性和外界干扰影响是有效的。Abstract: To solve the control problem of multi-steering vehicle under the influences of model nonlinearity and all sorts of disturbances, tire nonlinearity and external disturbances were analyzed, and the nonlinear model of multi-steering vehicle with two degrees of freedom was established and converted into local linear T-S fuzzy model based on Takagi-Sugeno(T-S) fuzzy theory.Combining parallel distributed compensation method(PDC) with H∞ robust control theory, the fuzzy PDC H∞ robust controller of steering system was designed and solved by using linear matrix inequality(LMI) and fuzzy logic control(FLC) tools.With the disturbances of sine wave and step signal, when vehicle velocity was 80 km·h-1, the simulation experiments of front wheel steering returnability and front wheel steering with angle step input were carried out.Based on the dynamic responses of side slip angle and yaw rate, all overshoots are 0, and all times to reach steady values are within 0.06 s.In former experiment, the steady values of side slip angle and yaw rate are all 0.In latter experiment, the values are 0 and 1.2(°)·s-1 respectively, and the steady gain of yaw rate is 0.24 [(°)·s-1]·(°)-1.Simulation result indicates that high-speed multi-steering vehicle with fuzzy PDC H∞ robust control can steer smoothly and rapidly, and the T-S fuzzy modeling method and the designing method of robust controller are effective to solve the problems of tire nonlinearity and external disturbances for multi-steering vehicle.
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表 1 仿真参数
Table 1. Simulation parameters
参数 数值 参数 数值 M/kg 39 280 C5 1.3 Iz/(kg·m2) 311 760 B1 0.828 69 L1/m 4.379 3 B2 0.828 69 L2/m 1.749 3 B3 0.828 69 L3/mm -7.332 0 B4 1.800 00 L4/m -1.860 7 B5 1.800 00 L5/m -3.720 7 D1/kg 7 560 C1 1.3 D2/kg 7 560 C2 1.3 D3/kg 7 560 C3 1.3 D4/kg 8 300 C4 1.3 D5/kg 8 300 
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