车辆线控转向系统的分数阶鲁棒控制研究
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江苏省高校自然科学基金资助项目(163040037)


The control research of fractional order PIλDμ and its application to vehicle steering-by-wire system
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    摘要:

    线控转向系统有别于普通车辆的机械转向机构,它是由转向电机、转向机构、转角和力矩传感器以及控制单元构成的复杂转向系统.系统性能受到参数的不确定性、未建模动态以及前轮回正力矩的影响.本文基于分数微积分理论,根据转向系统鲁棒性的设计要求,提出一种新的PIλDμ控制策略,保证线控转向系统在所要求的频域范围具有鲁棒性.文中通过优化方法得到PIλDμ控制器的五个设计参数,并用Oustaloup算法对分数阶控制器进行仿真验证,结果表明该控制方法对提高转向系统性能的鲁棒性是有效的.

    Abstract:

    The steering-by-wire system is different from the traditional steering system.It is a complicated system composed of steering motor,steering mechanism,steering angle sensor,steering torque sensor and ECU.System performance was influenced by parameter uncertainties,unmodeled dynamics and the front tire selfaligning moment.According to the design demand of the steeringbywire system robust,a new PIλDμ control strategy based on fractional calculus was proposed,which can ensure the robust of the steering-by-wire system during the special range of frequency.The five design parameters of controller were achieved by the method of optimum.Oustaloup method was used to simulate the fractional controller,and the simulation results showed the effectiveness of the control method to improve the robust of the steering-by-wire system.

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田杰,陈宁,高翔.车辆线控转向系统的分数阶鲁棒控制研究[J].动力学与控制学报,2009,7(1):71~74; Tian Jie, Chen Ning, Gao Xiang. The control research of fractional order PIλDμ and its application to vehicle steering-by-wire system[J]. Journal of Dynamics and Control,2009,7(1):71-74.

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  • 收稿日期:2008-07-28
  • 最后修改日期:2008-12-09
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