自抗扰控制在前轮主动转向控制中的应用

摘要

For further improving the performance of active front steering ( AFS), an active disturbance rejection control( ADRC )algorithm is adopted to fulfill AFS control.A second order ADRC strategy is designed on the basis of normalizing vehicle dynamic equations.Under the operation conditions of double lane change and accelerating on μ-split road, the control effect of the algorithm is studied by a hardware-in-the-loop simulation test.The results show that ADRC algorithm, while being simple and easy to implement, can realize AFS control effectively with a control effect better than PID control and higher capabilities in disturbance resistance and path keeping.%为进一步提高前轮主动转向的性能,采用自抗扰控制算法来实现前轮主动转向控制.在对车辆动力学方程进行规范化的基础上,设计了二阶自抗扰控制算法.在双移线工况和对开路面加速工况下,对该算法的控制效果进行了硬件在环的仿真试验研究.结果表明,自抗扰控制算法能够有效地实现前轮主动转向控制,控制效果优于P1D控制,具有更高的抗扰动能力和路径保持能力;同时算法简单,容易实现.