| 基于LMI的EPS干扰抑制控制器的设计 |
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| 引用本文： | 魏建伟,魏民祥.基于LMI的EPS干扰抑制控制器的设计[J].机械科学与技术(西安),2010(2). |
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| 作者姓名： | 魏建伟 魏民祥 |
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| 作者单位： | 南京航空航天大学; |
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| 摘 要： | 电动助力转向(EPS)系统工作过程中存在量测噪声、非线性摩擦和路面扰动。为抑制这些干扰因素对EPS系统和汽车操纵稳定性的影响,建立了EPS非线性动力学模型。引入H∞控制算法,并结合线性矩阵不等式(LMIs)方法设计了最优H∞动态反馈控制器,采用三自由度整车模型进行控制器的仿真验证。仿真分析结果表明,在所设计的控制器的作用下,路面扰动对汽车质心侧偏角和横摆角速度的影响分别减少了63.4%和68.7%。
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| 关 键 词： | 电动助力转向 非线性 线性矩阵不等式 最优H∞动态反馈控制器 |
Controller Design of Disturbance Resistance for an Electric Power Steering System Using Linear Matrix Inequalities |
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| Wei Jianwei,Wei Minxiang.Controller Design of Disturbance Resistance for an Electric Power Steering System Using Linear Matrix Inequalities[J].Mechanical Science and Technology,2010(2). |
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| Authors: | Wei Jianwei Wei Minxiang |
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| Affiliation: | Nanjing University of Aeronautics and Astronautics/a>;Nanjing 210016 |
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| Abstract: | The work of an electric power steering (EPS) system will bring torque sensor noise,nonlinear friction and road disturbance. A nonlinear EPS system dynamic model and H∞ control theory are introduced in order to inhibit the effects of these interference factors. Linear matrix inequalities (LMIs) method is employed to design an optimal H∞ dynamic output feedback controller,and a three-degree-of-freedom (3DOF) vehicle model is used to verify the controller. Simulation results indicate that the effects of road disturbance on vehicle side slip angle and yaw rate can be reduced by 63. 4% and 68. 7% respectively. |
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| Keywords: | electric power steering nonlinear system LMIs optimal H∞ dynamic output feedback controller |
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