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汽車(chē)EPS與ASS的H∞/PID集成控制
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    摘要:

    分別建立了汽車(chē)電動(dòng)助力轉(zhuǎn)向（EPS）模型與主動(dòng)懸架系統(tǒng)（ASS）模型，提出了EPS與ASS的集成模型。綜合考慮EPS與ASS的相互影響，設(shè)計(jì)出H∞/PID集成控制系統(tǒng)。從提高汽車(chē)轉(zhuǎn)向行駛時(shí)的乘坐舒適性和操縱穩(wěn)定性角度出發(fā)，根據(jù)人體對(duì)振動(dòng)的敏感頻率范圍引入了適當(dāng)?shù)念l域加權(quán)函數(shù)，設(shè)計(jì)出ASS系統(tǒng)的H∞最優(yōu)控制器，使水平和垂直方向敏感頻率范圍內(nèi)的振動(dòng)都得到明顯降低；從改善駕駛員轉(zhuǎn)向輕便性角度出發(fā)，設(shè)計(jì)出EPS系統(tǒng)的PID控制器。仿真結(jié)果表明，該集成控制方法能夠使汽車(chē)轉(zhuǎn)向行駛時(shí)的乘坐舒適性和操縱穩(wěn)定性得到提高。

    Abstract:

    The EPS model and ASS model of an automobile was built respectively. Considering the mutual influences between EPS and ASS systems, an integrated control structure was designed. On one hand, considering the comfort and handling stability characteristics, the frequency-dependent weighting matrices were introduced. In order to reduce the vibration at specific bands of frequency, a H∞ controller was designed. On the other hand, a PID controller for the EPS was also designed to improve steering performance. Simulation results show that integrated control scheme is effective, the comfort and handling stability and other characteristics can be greatly improved.

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應(yīng)艷杰,方敏,張?jiān)瞿?陳無(wú)畏,汪洪波.汽車(chē)EPS與ASS的H∞/PID集成控制[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2007,38(1):6-11.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(1):6-11.

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