整车非线性系统的输入输出解耦及解耦比例微分控制

根据非线性解耦控制理论设计出解耦控制器,以消除装有主动悬架(ASS)和电动助力转向(EPS)的集成控制器中控制通道的耦合和路面不平度的干扰.为进一步减少响应时间和跟踪误差并降低超调量,在解耦控制器的基础上,设计出动态响应较为理想的解耦比例微分(PD)控制器.仿真结果表明,基于解耦控制的ASS EPS集成系统,与未集成的ASS或EPS系统相比,前者能更好地改善汽车动力学特性.此外,解耦PD控制与单独的解耦控制相比,在改善整车的行驶平顺性和操纵稳定性等方面效果也更为明显.为验证理论分析和仿真计算的正确性,进行实车道路试验,试验采用自行设计的ASS EPS集成控制系统,试验结果与仿真计算结果基本吻合,进一步验证了所提方法是正确有效的.

I/O DECOUPLING AND DECOUPLING PROPOTION AND DIFFERENTIAL CONTROL OF NONLINEAR FULL CAR SYSTEM

To decouple the couple action of lateral and vertical motion in the nonlinear model of a full car implemented with the electrical power steering system(EPS) and the active suspension system(ASS), and reduce the disturbance of road roughness, a decoupling controller is designed according to nonlinear decoupling control theory. Based on the above integrated system, a propotion and differential(PD) loop is added to this controller to decrease the response time, tracking error and over-shooting. The simulation results show that decoupling control with PD loop can work better than single decoupling controller; The integrated system with the decouple strategy has better performance than single EPS or ASS controller. Meanwhile, to verify the correctness of theoretic analysis and simulation, road driving tests with real car implemented ASS EPS integrated system is carried out. The test results are consistent with the control theory and presented algorithm, and the effectiveness is proved.