[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(02):165.[doi:10.14177/j.cnki.32-1397n.2017.41.02.005]
点击复制

车辆主动前轮转向与主动悬架的自抗扰控制方法()
分享到:

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
41卷
期数:
2017年02期
页码:
165
栏目:
出版日期:
2017-04-30

文章信息/Info

Title:
Active disturbance rejection control method of active frontwheel steering and active suspension system of vehicle
文章编号:
1005-9830(2017)02-0165-08
作者:
桑 楠12魏民祥1
1.南京航空航天大学 能源与动力学院,江苏 南京 210016; 2.常州工学院 机械与车辆工程学院,江苏 常州 213002
Author(s):
Sang Nan12Wei Minxiang1
1.College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China; 2.School of Mechanical & Vehicle Engineering,Changzhou Institute ofTechnology,Changzhou 213002,China
关键词:
自抗扰控制 主动前轮转向 主动悬架系统 转向路感 转向灵敏度 乘坐舒适性
Keywords:
active disturbance rejection control active front wheel steering active suspension system steering road feel steering sensitivity ride comfort
分类号:
U461.4; U461.6
DOI:
10.14177/j.cnki.32-1397n.2017.41.02.005
摘要:
为实现主动前轮转向系统与主动悬架系统的集成及解耦控制,该文采用自抗扰方法对两个子系统进行集成控制,设计了主动前轮转向和主动悬架的自抗扰控制器,并进行了路面扰动输入下的双移线试验。研究了车辆的路径跟踪性能、转向路感、转向灵敏度和舒适性,对比分析了无控制、主动转向单独控制和主动悬架单独控制系统集成的控制特性。结果表明,自抗扰集成控制的主动前轮转向与主动悬架能同时改善转向性能指标和舒适性能指标,提高了车辆操纵稳定性和乘坐舒适性。自抗扰控制器设计无需精确数学模型,干扰抑制也无需扰动模型,控制方法简单,鲁棒性好,易实现转向、悬架及各悬架间的解耦控制。
Abstract:
In order to realize the integration and decoupling control of the active front wheel steering(AFS)system and the active suspension system(ASS),the active disturbance rejection(ADR)method for integrated control of two subsystems is proposed.The active disturbance rejection controllers(ADRC)of the AFS and the ASS are designed and the double lane change test is carried out under the road disturbance input.The path tracking performance,the steering road feel,the steering sensitivity and the ride performance of vehicle are studied,and the characteristics of the integrated control system is analyzed by comparing with the system without control and the AFS-only/ASS-only system.The results show that the ADR integrated control of the AFS and the ASS can improve steering performances and comfortable performances,and increase the handling stability and the ride comfort.The design of the ADRC needs no accurate mathematical models and the interference suppression needs no disturbance models,the control method is simply and in good robustness.The decoupling control between the steering and suspension and the suspension each other can be easily realized by the ADR method.

参考文献/References:

[1] Ding Nenggen,Taheri Saied.An adaptive integrated algorithm for active front steering and direct yaw moment control based on direct Lyapunov method[J].Vehicle System Dynamics,2010,48(10):1193-1213.
[2]Mashadi B,Majidi M.Integrated AFS/DYC sliding mode controller for a hybrid electric vehicle[J].International Journal of Vehicle Design,2011,56(1):246-269.
[3]Ali R K M,Tabatabaei S H.Integrated control of AFS and DYC in the vehicle yaw stability management system using fuzzy logic control[C]∥2008 World Congress.Detroit,US:SAE Publication Group,2008:1-11.
[4]Masao Nagai,Sachiko Yamanaka,Yutaka Hirano.Integrated control of active rear wheel steering and direct yaw moment control using braking force[J].JSME International Journal,1999,42(2):301-308.
[5]Bianchi D,Borri A,Di Benedetto M D,et al.Adaptive integrated vehicle control using active front steering and rear torque vectoring[J].International Journal of Vehicle Autonomous Systems,2010,8(2):85-105.
[6]Shen Xiaoming,Yu Fan.Design and analysis of an b>∞ integrated control system consists of active suspension and four wheel steering[J].International Journal of Vehicle Autonomous Systems,2008,6(3/4):342-360.
[7]Massanori Harada,Hiroshi Harada.Analysis of lateral stability with integrated control of suspension and steering systems[J].JSAE Review,1999,20(4):465-470.
[8]Chen Wuwei,Xiao Hansong,Liu Liqiang,et al.Integrated control of automotive electrical power steering and active suspension systems based on random sub-optimal control[J].International Journal of Vehicle Design,2006,42(3/4):370-391.
[9]Zhao Wanzhong,Wang Chunyan,Li Yijun,et al.Integrated optimization of active steering and semi-active suspension based on an improved memetic algorithm[J].International Journal of Vehicle Design,2015,67(4):388-405.
[10]Yoshimura T,Teramura I.Integrated control of steering and suspension systems for full car models in crosswind and road disturbances[J].International Journal of Vehicle Systems Modelling and Testing,2007,2(4):369-390.
[11]韩京清.自抗扰控制技术——估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008.
[12]Sang Nan,Wei Minxiang,Bai Yu.Control of vehicle active front steering based on active disturbance rejection feedback controller[J].Transactions of Nanjing University of Aeronautics and Astronautics,2015,32(4):461-468.
[13]石米娜.基于压力控制的轮腿式越野车辆自适应液压主动悬架研究[D].长春:吉林大学机械科学与工程学院,2012.
[14]Hasbullah F,Faris W F,Darsivan F J,et al.Ride comfort performance of a vehicle using active suspension system with active disturbance rejection control[J].International Journal of Vehicle Noise and Vibration,2015,11(1):78-101.
[15]Unbehauen H,Raos G P.Continuous-time approaches to system identification——A survey[J].Automatica,1990,26(1):23-35.
[16]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18.
Han Jingqing.From PID technique to active disturbances rejection control technique[J].Control Engineering of China,2002,9(3):13-18.
[17]Gao Zhiqiang.Scaling and bandwidth-parameterization based controller tuning[C]//Proceedings of the American Control Conference.Denver,US:Automatic Control Council,2003:4989-4996.
[18]Madonski R,Herman P.An experimental verification of ADRC robustness on across-coupled aerodynamical system[J].IEEE International Symposium on Industrial Electronics(ISIE),2011,19(6):859-863.

相似文献/References:

[1]方晓星,王勇,王英勋.低空掠海飞行拖靶自抗扰高度控制律设计[J].南京理工大学学报(自然科学版),2012,36(05):835.
 FANG Xiao-xing,WANG Yong,WANG Ying-xun.Design of Active Disturbances Rejection Control Law ofLow Altitude Sea-skimming Tow Target[J].Journal of Nanjing University of Science and Technology,2012,36(02):835.
[2]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(02):452.
[3]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(02):655.[doi:10.14177/j.cnki.32-1397n.2018.42.06.004]

备注/Memo

备注/Memo:
收稿日期:2016-05-29 修回日期:2016-11-10
基金项目:国家自然科学基金(51375007)
作者简介:桑楠(1969-),男,硕士,副教授,主要研究方向:汽车主动安全技术,E-mail:sc_sangn@sina.com; 通讯作者:魏民祥(1963-),男,博士,教授,主要研究方向:汽车电子控制技术,E-mail:weimx@nuaq.edu.cn。
引文格式: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,2017,41(2):165-172.
投稿网址:http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2017-04-30