Nonlinear robust fuzzy distributed control of vehicle steering with saturation constraint

被引：0
|
作者：
Sun C. [1 ,2 ,3 ]
Fang L. [1 ]
Tong B. [1 ,2 ]
机构：
[1] School of Mechanical Engineering, Anhui University of Technology, Maanshan
[2] Institute of Green and Intelligent Vehicles, Anhui University of Technology, Maanshan
[3] Anhui Province Key Laboratory of Special Heavy Load Robot, Anhui University of Technology, Maanshan
来源：
Zhendong yu Chongji/Journal of Vibration and Shock | 2022年 / 41卷 / 04期
关键词：
Lateral load transfer; Nonlinear robust control; Saturation constraint; Vehicle system; Yaw stability;
D O I：
10.13465/j.cnki.jvs.2022.04.011
中图分类号：
学科分类号：
摘要：
Aiming at nonlinear steering and actuator saturation problems in extreme state, the integrated control of active front steering (AFS) and direct yaw-moment control(DYC) of yaw-roll stability was studied. A 3DOF yaw-roll vehicle model was established with the Takagi-Sugeon(T-S) method. Dynamic parameters of the model were obtained through a fuzzy observer. A novel yaw ideal reference model was conducted under the T-S framework, accurately reflecting vehicle steady-state during steering. The dynamic saturation threshold of active front steering was constructed under the T-S framework, considering the effect of extreme steering on sideslip characteristics of front wheels. A relaxation factor was introduced to improve the actuator of AFS and DYC efficiency, and saturation deviation of feedback control input was controlled as a bounded disturbance. A state feedback fuzzy controller PDC-TS(parallel distributed compensation-TS) was designed based on a PDC scheme, with the norm-bounded rollover stability threshold adopted as rollover performance constraint, and optimal H∞ performance control was derived in terms of an linear matrix inequalities(LMIs) convex optimization problem for vehicle yaw-roll stability. Finally, control simulation and hardware in loop simulation for the controller was constructed with TruckSim-MATLAB/Labview softwares. The obtained results show that the PDC-TS method is more precisely to control strong nonlinearity of vehicle during steering process, and actuator implementing is more efficiently, and stability is always maintained with saturation input. © 2022, Editorial Office of Journal of Vibration and Shock. All right reserved.
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页码：77 / 85and149
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