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为解决多轴转向车辆模型非线性和各种干扰影响下的控制问题,分析了轮胎非线性和外界干扰,建立多轴转向车辆的二自由度非线性模型,应用T-S模糊理论,将其转换为局部线性的T-S模糊模型。基于并行分配补偿法(PDC)和H∞鲁棒控制理论,设计了转向系统的模糊PDC H∞鲁棒控制器,并利用线性矩阵不等式和模糊逻辑控制工具求解控制器。在正弦波和阶跃信号干扰下,车速为80km.h-1时,进行前轮转向回正和前轮角阶跃输入转向的仿真试验。仿真结果表明:侧偏角和横摆角速度动态响应的超调均为0,且均在0.06s内达稳态值;前轮转向回正试验的侧偏角和横摆角速度稳态值均为0,前轮角阶跃输入转向试验的相应值分别为0和1.2(°).s-1,且稳态横摆角速度增益为0.24[(°).s-1].(°)-1。这说明了多轴转向车辆在模糊PDC H∞鲁棒控制下的高速转向平稳迅速,T-S模糊建模和鲁棒控制器设计算法对解决轮胎非线性和外界干扰影响是有效的。
In order to solve the control problem under the influence of nonlinearity and various disturbances of multi-axle steering vehicle model, the two-degree-of-freedom nonlinear model of the multi-axle steering vehicle is established by analyzing the nonlinear and external disturbances of tires. The TS fuzzy theory is applied to convert the two- Local linear TS fuzzy model. Based on parallel distributed compensation (PDC) and H∞ robust control theory, a fuzzy PDC H∞ robust controller for steering system is designed. The controller is solved by linear matrix inequalities and fuzzy logic control tools. In the sine wave and step signal interference, the speed of 80km.h-1, the front-wheel steering back to the front and cornering step steering input simulation test. The simulation results show that the overshoots of the dynamic response of slip angle and yaw rate are all zero, and the steady-state values reach within 0.06s. The steady-state values of slip angle and yaw rate 0, the corresponding values of the steer angle steer input steering test are 0 and 1.2 (°) .s-1 respectively, and the steady-state yaw rate gain is 0.24 [(°) .s-1] . This shows that the multi-axle steering vehicle is steady and steady at high speed under the fuzzy PDC H∞ robust control. The T-S fuzzy modeling and robust controller design algorithm are effective to solve the influence of tire nonlinearity and external disturbance.