[1]白 玉,桑 楠.基于自抗扰技术的汽车变传动比转向控制[J].南京理工大学学报(自然科学版),2015,39(04):452.
 Bai Yu,Sang Nan.Vehicle variable ratio steering control based on active disturbance rejection technology[J].Journal of Nanjing University of Science and Technology,2015,39(04):452.
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基于自抗扰技术的汽车变传动比转向控制
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
39卷
期数:
2015年04期
页码:
452
栏目:
出版日期:
2015-08-31

文章信息/Info

Title:
Vehicle variable ratio steering control based on active disturbance rejection technology
作者:
白 玉1桑 楠12
1.常州工学院 机电工程学院,江苏 常州 213002; 2.南京航空航天大学 能源与动力学院,江苏 南京 210016
Author(s):
Bai Yu1Sang Nan12
1.School of Mechanical & Electrical Engineering,Changzhou Institute of Technology,Changzhou 213002,China; 2.College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China
关键词:
自抗扰技术 主动前轮转向 变传动比 操纵稳定性 自抗扰控制器 PID控制
Keywords:
active disturbance rejection technology active front steering variable steering ratio handling and stability active disturbance rejection controller PID control
分类号:
U461.1
摘要:
针对汽车定传动比转向特性存在的不足,提出用前馈和自抗扰反馈的汽车转向变传动比控制算法,实现汽车主动前轮转向。设计了前馈控制器和自抗扰反馈控制器,前馈控制器实现汽车转向传动比随车速在12-24之间变化,自抗扰反馈控制器跟踪理想参考横摆角速度。建立车辆闭环控制模型,控制CarSim车辆模型进行双移线、转向盘角阶跃输入和对开路面试验,并与PID控制仿真结果进行对比。仿真试验结果表明,所设计的前馈和反馈控制器实现了变传动比转向控制,车辆路径跟踪性能好、响应超调量小、响应时间短以及抗干扰能力强,且各项性能优于PID控制,改善了汽车操纵稳定性。
Abstract:
Aiming at the shortages of steering characteristics of a vehicle with an invariable steering ratio,a control algorithm of the feedforward and active disturbance rejection feedback is proposed for the active front steering(AFS)of a vehicle.Feedforward controller and active disturbance rejection feedback controller(ADRFC)are designed.A variable steering ratio from 12 to 24 is realized by a feedforward controller,and desired yaw rate is tracked by ADRFC.The closed-loop control model of a vehicle is established to control a CarSim vehicle model to carry out the double lane change test,steering wheel angle step input test and μ-split test,and simulation results are compared with the PID control.The simulating results show that the designed controllers can implement variable ratio steering,and the vehicle has good tracking performance,small response overshoot,short response time and strong disturbance rejection,and various performance are better than the PID control,and controllability and stability are improved.

参考文献/References:

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相似文献/References:

[1]桑 楠,魏民祥.车辆主动前轮转向与主动悬架的自抗扰控制方法[J].南京理工大学学报(自然科学版),2017,41(02):165.[doi:10.14177/j.cnki.32-1397n.2017.41.02.005]
 Sang Nan,Wei Minxiang.Active disturbance rejection control method of active frontwheel steering and active suspension system of vehicle[J].Journal of Nanjing University of Science and Technology,2017,41(04):165.[doi:10.14177/j.cnki.32-1397n.2017.41.02.005]
[2]桑 楠,刘润乔,赵万忠.汽车主动前轮转向与直接横摆力矩协调控制[J].南京理工大学学报(自然科学版),2018,42(06):655.[doi:10.14177/j.cnki.32-1397n.2018.42.06.004]
 Sang Nan,Liu Runqiao,Zhao Wanzhong.Coordinated control of active front steering and directyaw moment for vehicles[J].Journal of Nanjing University of Science and Technology,2018,42(04):655.[doi:10.14177/j.cnki.32-1397n.2018.42.06.004]

备注/Memo

备注/Memo:
收稿日期:2015-04-20 修回日期:2015-05-20
基金项目:国家自然科学基金(51205191)
作者简介:白玉(1968-),女,硕士,实验师,主要研究方向:汽车主动安全及汽车检测技术,E-mail:sc_baiy@sina.com。
引文格式:白玉,桑楠.基于自抗扰技术的汽车变传动比转向控制[J].南京理工大学学报,2015,39(4):452-459.
投稿网址:http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2015-08-31