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華中科技大學學報(自然科學版) 2020, Vol. 48 Issue (10): 44-49 DOI10.13245/j.hust.201008

欄目:機械與材料工程
基于非線性干擾觀測器的車輪滑移率跟蹤控制
張家旭 a , b , 周時瑩 b , 趙 健 a , 施正堂 c
a. 吉林大學汽車仿真與控制國家重點實驗室,吉林 長春 130022
b. 中國第一汽車集團有限公司智能網聯研發院,吉林 長春 130011
c. 浙江亞太機電股份有限公司,浙江 杭州 311200
摘要 針對自動駕駛技術對強魯棒性、高精度的車輪滑移率跟蹤控制需求,提出一種基于非線性干擾觀測器的車輪滑移率跟蹤控制方法.首先,基于1/4車輛動力學模型建立車輪滑移率跟蹤模型,并采用冪函數和線性函數相結合的方式設計非線性干擾觀測器,估計和補償車輪滑移率跟蹤模型的復合干擾;然后,以抗飽和補償系統和雙曲正切函數為基礎,設計車輪滑移率跟蹤抗飽和控制律,抑制輸入飽和效應對閉環系統穩定性的影響,以及避免閉環系統產生抖振;最后,基于車輛動力學仿真軟件建立模型在環仿真系統來驗證所提方法.仿真結果表明:該方法可以對任意目標車輪滑移率進行高精度的跟蹤控制,滿足自動駕駛技術對強魯棒性、高精度的車輪滑移率跟蹤控制的需求.
關鍵詞 車輛工程 ;非線性干擾觀測器 ;車輪滑移率 ;跟蹤控制 ;抗飽和補償
Wheel slip rate tracking control based on nonlinear disturbance observer
ZHANG Jiaxu a , b , ZHOU Shiying b , ZHAO Jian a , SHI Zhengtang c
a. State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China
b. Intelligent Network Research and Development Institute,China FAW Group Co. Ltd.,Changchun 130011,China
c. Zhejiang Asia-Pacific Mechanical and Electronic Co. Ltd.,Hangzhou 311200,China
Abstract In order to meet the requirement of the autonomous driving technology for the wheel slip rate tracking control with strong robustness and high precision,a nonlinear-disturbance-observer-based wheel slip rate tracking control method was proposed.First,a wheel slip rate tracking control model was established based on the quarter-vehicle dynamics model,and a nonlinear disturbance observer was designed by combining the power function with the linear function to estimate and compensate the composite disturbance of the wheel slip rate tracking control model.Then,on the basis of the anti-windup compensation system and the hyperbolic tangent function,a wheel slip rate tracking anti-windup control law was designed to suppress the influence of the control input saturation on the stability of the closed-loop system and avoid the chattering phenomenon of the closed-loop system.Finally,a model in the loop simulation system was established based on the vehicle dynamics simulation software to verify the proposed method.Simulation results show that the proposed method can track any target wheel slip rate with high precision,and meet the requirement of the autonomous driving technology for the wheel slip rate tracking control with strong robustness and high precision.
Keywords vehicle engineering ; nonlinear disturbance observer ; wheel slip rate ; tracking control ; anti-windup compensation
基金資助國家自然科學基金面上項目(51575225).

中圖分類號U461.1
文獻標志碼A
文章編號1671-4512(2020)10-0044-06
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文獻來源
張家旭, 周時瑩, 趙 健, 施正堂. 基于非線性干擾觀測器的車輪滑移率跟蹤控制[J]. 華中科技大學學報(自然科學版), 2020, 48(10): 44-49
DOI:10.13245/j.hust.201008
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