摘要
针对汽车纵向动力学模型存在较大不确定性的问题,提出了一种基于鲁棒控制理论的多模型分层切换控制方法。在分析汽车纵向动力学特性基础上,用4个乘性不确定模型描述对象,并应用鲁棒控制理论设计控制器集合。考虑鲁棒控制理论特点,设计了一种基于不确定性估计的切换指标函数,实现了汽车纵向加速度多模型分层切换控制。理论分析和实验表明,提出的方法在模型具有大不确定性时可以对加速度进行有效控制,系统具有良好的跟踪性能,稳态误差小于0.1m/s2。
To deal with the large model uncertainties of vehicle longitudinal dynamics system, a multi-model hierarchical switching control algorithm based on robust control theory was proposed. After analyzing vehicle longitudinal dynamics, four uncertainty models were set up to describe their dynamics and the controller set was designed by robust control theory. Considering the characteristics of robust control system, a switching index function by estimating uncertainty was designed. So the multi--model hierarchical switching control of vehicle longitudinal acceleration was established. Theoretical analysis and experimental results show that the method can control vehicle longitudinal acceleration effectively. The system has good tracking ability and the stable tracking error is less than 0. 1 m/s^2 .
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第4期495-499,共5页
China Mechanical Engineering
关键词
加速度控制
多模型
切换控制
鲁棒性
acceleration control
multi- model
switching control
robustness
