输入受限约束下的汽车横摆力矩混合切换控制策略研究

摘要

目前在汽车横摆力矩控制器设计中，往往忽略了系统输入是有限的这一约束条件，因此所设计的控制器并不能总是工作在预先设定的反馈规律下。这在实际环境中将导致系统性能的不可靠。为此，在二次最优控制器的基础上，增加抗饱和控制器的设计，并通过混合切换控制策略来达到既保证良好的控制性能，同时又能适应系统输入有限这一约束条件。仿真实验表明，所设计的控制策略与这些控制器单独控制相比，不仅抗饱和性能得到提高，而且控制性能也同样令人满意。该方案的设计为更加合理的汽车稳定性控制策略提供参考。%The actuator of controller for vehicle direct yaw-moment control always has physical limitation,so this is actually an input saturation system.While how to deal with this constraint condition is rarely to be concerned until now.To overcome this ques-tion,mixed switching controller has been proposed which consists of optimal control law obtained through quadratic form and anti-windup control law.Simulation study has been performed,and the results show that compared to LQR controller,mixed switching controller can not only have performance as well as it,but also avoid saturation obviously,so mixed switching type controller could be a more reasonable choice for direct yaw-moment control for vehicle lateral stability.