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汽车主动前轮转向的自抗扰控制器设计

桑楠 魏民祥 白玉

桑楠, 魏民祥, 白玉. 汽车主动前轮转向的自抗扰控制器设计[J]. 机械科学与技术, 2017, 36(5): 767-772. doi: 10.13433/j.cnki.1003-8728.2017.0518
引用本文: 桑楠, 魏民祥, 白玉. 汽车主动前轮转向的自抗扰控制器设计[J]. 机械科学与技术, 2017, 36(5): 767-772. doi: 10.13433/j.cnki.1003-8728.2017.0518
Sang Nan, Wei Minxiang, Bai Yu. Design of Active Disturbance Rejection Controller for Active Front Steering Vehicle[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(5): 767-772. doi: 10.13433/j.cnki.1003-8728.2017.0518
Citation: Sang Nan, Wei Minxiang, Bai Yu. Design of Active Disturbance Rejection Controller for Active Front Steering Vehicle[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(5): 767-772. doi: 10.13433/j.cnki.1003-8728.2017.0518

汽车主动前轮转向的自抗扰控制器设计

doi: 10.13433/j.cnki.1003-8728.2017.0518
基金项目: 

国家自然科学基金项目(51205191)资助

详细信息
    作者简介:

    桑楠(1969-),副教授,博士研究生,研究方向为汽车主动安全技术,sc_sangn@sina.com

Design of Active Disturbance Rejection Controller for Active Front Steering Vehicle

  • 摘要: 传统转向系统对驾驶员误操作不能予以纠正,在驾驶过程中驾驶员需不断修正方向以消除外界或内部对车辆的扰动;主动前轮转向系统产生独立于驾驶员的附加前轮转角,改变车辆的横向受力状态克服传统转向系统不足。提出采用自抗扰技术的汽车主动前轮转向系统,根据系统的输入和输出动态跟踪理想参考横摆角速度,使车辆在横摆角速度安全裕度内运行。在MATLAB中实现了自抗扰控制器算法,控制CarSim车辆模型进行直线行驶抗扰试验和双移线试验,研究了自抗扰控制转向系统的抗扰动性能、路径跟踪性能以及对参数变化的鲁棒性,并与PID控制试验结果进行对比。试验结果表明,自抗扰控制的主动前轮转向系统改善了车辆操纵稳定性,具有抗干扰能力强、路径跟踪性能良好和鲁棒性强等优点,且各项性能优于PID控制器。
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出版历程
  • 收稿日期:  2015-08-24
  • 刊出日期:  2017-05-05

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