| 汽车转向轮转角主动控制分析与研究 |
投稿时间：2018-09-15 修订日期：2018-11-01  点此下载全文 |
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| 基金项目:利用汽车行驶风测试结构三分力系数的跑车试验方法研究 |
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| 中文摘要:智能汽车转向角可通过转向系统进行准确可靠控制。主动控制中，综合转向执行电机电流、侧向加速度和横摆角速度等信号，通过卡尔曼原理分析，对转角传感器实施容错设计及故障诊断。依据设计、诊断结果，综合执行器受限力矩，通过条件积分法，对前反馈加抗积分饱和状态进行控制算法设计，使转向轮转角趋于期望值。基于李雅普诺夫函数，对主动控制系统的稳定性进行验证。将设计控制算法加于实验车，实验结果证明基于容错设计及故障诊断的主动控制可精准控制转向轮转角。 |
| 中文关键词:汽车 转角 条件积分 转向轮 卡尔曼滤波 |
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| Analysis and Research on Active Control of Turning Angle of Automobile Steering Wheel |
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| Abstract:The steering angle of intelligent vehicle can be controlled accurately and reliably by steering system. In active control, the signal of motor current, lateral acceleration and yaw rate are synthesized, and the fault-tolerant design and fault diagnosis of the angle sensor are implemented by analyzing the Kalman principle. According to the results of design and diagnosis, the control algorithm of forward feedback plus anti-integral saturation state is designed by combining the limited torque of actuator and conditional integral method, so that the steering wheel angle tends to the expected value. Based on Lyapunov function, the stability of active control system is verified. The experimental results show that the active control based on fault-tolerant design and fault diagnosis can accurately control the steering wheel angle. |
| keywords:vehicle turning angle conditional integration steering wheel Calman filtering |
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