基于鲁棒H_∞控制的电动车辆转向研究
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摘要
文章以前轮转向叉车为研究对象,在对电动叉车电动助力转向(electric power steering,EPS)系统进行动力学分析和建立整车二自由度模型的基础上,提出EPS系统鲁棒H∞控制器,并运用遗传算法对控制器的加权函数参数进行优化,使驾驶员获得满意的路感,系统的鲁棒性、行驶安全性得到提高。根据TFC20叉车的实际数据,进行Matlab在不同工况、不同控制方法下的对比仿真实验,从而验证了运用遗传算法优化的鲁棒控制器可以更好地给叉车提供可跟随的电机助力,确保系统的操作轻便性和稳定性。
In order to obtain satisfactory steering feel,robust performance and steering stability for electric front-wheel steering forklift,models of electric power steering(EPS)system and a two-degreeof-freedom forklift are established,then the robust H_∞ controller based on genetic algorithm optimization of weight function parameters is proposed.In light of the TFC20 forklift,the Matlab simulation analysis with different conditions and control methods is done,and the result indicates that the robust controller based on genetic algorithm is effective in offering controlled steering aided power and ensuring the maneuverability and stability of the system.
In order to obtain satisfactory steering feel,robust performance and steering stability for electric front-wheel steering forklift,models of electric power steering(EPS)system and a two-degreeof-freedom forklift are established,then the robust H_∞ controller based on genetic algorithm optimization of weight function parameters is proposed.In light of the TFC20 forklift,the Matlab simulation analysis with different conditions and control methods is done,and the result indicates that the robust controller based on genetic algorithm is effective in offering controlled steering aided power and ensuring the maneuverability and stability of the system.
引文
[1]王海峰,王文建.汽车EPS系统原理及整车应用要点[J].合肥工业大学学报(自然科学版),2009,32(增刊1):21-24.
[2]詹长书,马振江,徐宁.电动助力转向系统仿真及控制策略研究[J].北京理工大学学报,2012,32(7):25-28.
[3]宋秦中,许猛.电动叉车EPS控制系统的设计与实现[J].微特电机,2015,43(10):22-24.
[4]裘信国,周鑫卓,周见行,等.三支点叉车转向齿轮设计及动力学仿真[J].浙江工业大学学报,2016,44(1):23-27,51.
[5]MA D M.Design of electric power steering for forklift based on ARM[J].Applied Mechanics&Materials,2013,347-350:548-552.
[6]田大庆.基于鲁棒控制理论的汽车电动转向助力系统控制技术研究[D].成都:四川大学,2006.
[7]MAROUF A,DJEMAI M,SENTOUH C,et al.A new control strategy of an electric-power-assisted steering system[J].IEEE Transactions on Vehicular Technology,2012,61(8):3574-3589.
[8]王伟,云浩.电动助力转向系统参数研究及优化设计[J].中国工程机械学报,2014,12(1):28-33
[9]赵树恩,李玉玲,刘文文.融合主动转向功能的电动助力转向系统H∞控制[J].机械科学与技术,2014,33(8):1233-1237.
[10]邱亚琴,张向文.电动助力转向系统的滑模控制算法研究[J].计算机仿真,2013,30(8):159-163.
[11]吴佳楠,肖本贤,方兴志,等.基于模糊控制的叉车线控转向系统变传动比研究[J].合肥工业大学学报(自然科学版),2014,37(8):912-915.
[12]DANNOHL C,MULLER S,ULBRICH H.H∞-control of a rack-assisted electric power steering system[J].Vehicle System Dynamics,2012,50(4):1-18.
[13]张子健,徐敏,陈士橹.机翼颤振的混合灵敏度H∞鲁棒控制器设计[J].计算力学学报,2010,27(4):661-666.
[14]臧怀泉,王媛媛.基于遗传算法的电动助力转向系统鲁棒H∞控制[J].控制理论与应用,2012,29(4):544-548.
[2]詹长书,马振江,徐宁.电动助力转向系统仿真及控制策略研究[J].北京理工大学学报,2012,32(7):25-28.
[3]宋秦中,许猛.电动叉车EPS控制系统的设计与实现[J].微特电机,2015,43(10):22-24.
[4]裘信国,周鑫卓,周见行,等.三支点叉车转向齿轮设计及动力学仿真[J].浙江工业大学学报,2016,44(1):23-27,51.
[5]MA D M.Design of electric power steering for forklift based on ARM[J].Applied Mechanics&Materials,2013,347-350:548-552.
[6]田大庆.基于鲁棒控制理论的汽车电动转向助力系统控制技术研究[D].成都:四川大学,2006.
[7]MAROUF A,DJEMAI M,SENTOUH C,et al.A new control strategy of an electric-power-assisted steering system[J].IEEE Transactions on Vehicular Technology,2012,61(8):3574-3589.
[8]王伟,云浩.电动助力转向系统参数研究及优化设计[J].中国工程机械学报,2014,12(1):28-33
[9]赵树恩,李玉玲,刘文文.融合主动转向功能的电动助力转向系统H∞控制[J].机械科学与技术,2014,33(8):1233-1237.
[10]邱亚琴,张向文.电动助力转向系统的滑模控制算法研究[J].计算机仿真,2013,30(8):159-163.
[11]吴佳楠,肖本贤,方兴志,等.基于模糊控制的叉车线控转向系统变传动比研究[J].合肥工业大学学报(自然科学版),2014,37(8):912-915.
[12]DANNOHL C,MULLER S,ULBRICH H.H∞-control of a rack-assisted electric power steering system[J].Vehicle System Dynamics,2012,50(4):1-18.
[13]张子健,徐敏,陈士橹.机翼颤振的混合灵敏度H∞鲁棒控制器设计[J].计算力学学报,2010,27(4):661-666.
[14]臧怀泉,王媛媛.基于遗传算法的电动助力转向系统鲁棒H∞控制[J].控制理论与应用,2012,29(4):544-548.