融合助力转向功能的新型主动转向系统LQG控制策略

中国机械工程 ›› 2014, Vol. 25 ›› Issue (3): 417-421.

融合助力转向功能的新型主动转向系统LQG控制策略

赵万忠1;李怿骏1;于蕾艳2;赵婷1;谷霄月1;王春燕1

1.南京航空航天大学，南京，210016
2.中国石油大学，青岛，266580

出版日期:2014-02-10 发布日期:2014-02-07
基金资助:
国家自然科学基金资助项目(51375007，51005115，51205191)；南京航空航天大学研究生创新基地开放基金资助项目（SX1102018）

LQG Control for Novel Active Steering System Integrated Electric Power Steering

Zhao Wanzhong1;Li Yijun1;Yu Leiyan2;Zhao Ting1;Gu Xiaoyue1;Wang Chunyan1

1.Nanjing University of Aeronautics and Astronautics,Nanjing,210016
2.China University of Petroleum,Qingdao,Shandong,266580

Online:2014-02-10 Published:2014-02-07
Supported by:
National Natural Science Foundation of China（No. 51375007，51005115，51205191）

摘要/Abstract

摘要：

在传统主动转向系统基础上，集成电动助力转向技术，开发出一种新型主动转向系统，使其同时融合主动转向和电动助力转向功能，不仅解决了汽车低速转向轻便与高速转向稳重的矛盾，而且可以实现驾驶员路感和汽车主动安全性的完美结合。推导出新型主动转向系统动力学方程，考虑系统中可能存在的各种干扰和噪声，构建了新型主动转向系统LQG控制模型，设计了新型主动转向系统LQG控制策略，并对转向路感和系统鲁棒性进行了仿真分析。仿真结果表明，基于LQG控制的新型主动转向系统，具有较好的系统鲁棒性能和鲁棒稳定性，可有效抑制路面随机激励、转矩传感器量测、模型参数不确定所引起的各种干扰和噪声，使驾驶员获得满意的转向路感。

关键词: 新型主动转向, LQG控制, 路感, 鲁棒性

Abstract:

Based on the traditional active steering system, a novel active steering system integrated electric power steering was introduced, which can achieve the functions of both active steering and electric power steering. It can resolve the conflict of steering portability between low speeds and high speeds, and realize the perfect combination of steering road feel and active safety. The dynamics model of novel active steering system was built. In view of the disturbances and noises of the system, a LQG control model of novel active steering system was established, and the LQG controller of novel active system was designed. The steering road feel and robustness performance of novel active steering system were analyzed. Simulation results show that the LQG controller can improve the robust performance and stability of novel active steering system and inhibit road random signals and sensor noises to provide a better steering road feel.

Key words: novel active steering, LQG control, road feel, robust

中图分类号:

U463

赵万忠, 李怿骏, 于蕾艳, 赵婷, 谷霄月, 王春燕. 融合助力转向功能的新型主动转向系统LQG控制策略[J]. 中国机械工程, 2014, 25(3): 417-421.

Zhao Wanzhong, Li Yijun, Yu Leiyan, Zhao Ting, Gu Xiaoyue, Wang Chunyan. LQG Control for Novel Active Steering System Integrated Electric Power Steering[J]. China Mechanical Engineering, 2014, 25(3): 417-421.

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