匹配机械弹性车轮的电子稳定控制器参数分析

doi:10.3969/j.issn.1004-132X.2020.23.013

摘要/Abstract

摘要： 为了提高匹配机械弹性车轮(MEW)的某越野车操纵稳定性，考虑MEW与传统子午线轮胎侧偏特性存在的不确定性摄动，基于Lyapunov稳定性理论为电子稳定控制(ESC)程序设计了鲁棒反馈控制器；引入轮胎侧偏刚度不确定性的范数有界模型，运用Schur补引理和线性矩阵不等式(LMI)求解反馈矩阵。设定不同的车速和路面附着系数，通过搭建CarSim/Simulink联合仿真平台对控制器展开鱼钩试验，仿真结果表明，匹配MEW的ESC控制器能够保证车辆行驶的稳定性，横摆角速度与质心侧偏角跟踪误差分别稳定在0.03~0.3 rad/s与0.06~0.1 rad之内，并且设计的控制算法对MEW在05倍普通充气车轮侧偏刚度变化范围内具有很好的鲁棒性，从而为匹配MEW的整车主动安全控制提供了理论参考。

关键词: 机械弹性车轮, 车辆稳定性控制, 范数有界模型, 线性矩阵不等式, 鲁棒控制

Abstract: In order to improve the stability of an off-road vehicle with MEWs, a robust feedback control for electronic stability controller(ESC) was designed by considering uncertainty perturbation of MEW and traditional radial tire cornering characteristics based on Lyapunov stability theorem. Norm bounded model with the uncertainty of tire cornering stiffness was introduced herein, and the feedback matrix was solved by Schur complement lemma and LMI. Finally, fish hook tests with different vehicle speeds and road adhesion were carried out on CarSim/Simulink platform. Simulation results show that the ESC matched with MEW may ensure the stability of the vehicles, the yaw velocity and the center of mass sideslip angle tracking errors were maintained in the ranges of 0.03~0.3 rad/s and 0.06~0.1 rad respectively, and the control algorithm may keep good robustness in the range of 05 times lateral stiffness of ordinary inflatable wheels, which provides a theoretical reference for the whole vehicle active safety control matching with MEWs.

Key words: mechanical elastic wheel(MEW), vehicle stability control, norm bounded model, linear matrix inequality（LMI）, robust control

中图分类号:

U461.91

郑鑫;赵又群;王秋伟;张陈曦. 匹配机械弹性车轮的电子稳定控制器参数分析[J]. 中国机械工程, DOI: 10.3969/j.issn.1004-132X.2020.23.013.

ZHENG Xin;ZHAO Youqun;WANG Qiuwei;ZHANG Chenxi.

Parameter Analysis of Electronic Stability Controller Matching Mechanical Elastic Wheels

[J]. China Mechanical Engineering, DOI: 10.3969/j.issn.1004-132X.2020.23.013.

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