为解决汽车转向缸加载控制中出现的诸如强位置干扰、多通道耦合、非线性等问题,将线性系统和非线性系统理论引入系统控制器的设计中,对各通道耦合问题开展了以前馈补偿为基础的解耦控制,所设计的前馈补偿结构简单,解耦网络阶次低；针对非线性问题提出了将非线性系统精确反馈线性化与最优控制相结合的方法,设计了基于精确反馈线性化的最优控制器,该方法将复杂的非线性系统问题转化为线性系统的综合问题,采用渐近输出跟踪方法实现系统控制.仿真结果表明:采用前馈补偿解耦控制器可以有效消除耦合,但当系统存在高度非线性时,仅采用前馈补偿解耦控制不能达到高品质的性能要求,而进一步设计的基于精确反馈线性化的最优控制器考虑系统非线性时,系统能快速、准确达到预置设定.%In order to solve the problems in the vehicle steering cylinder load control, such as the strong position of interference, multi—channel coupling, nonlinear, linear systems and nonlinear systems theory was introduced in the design of the system controller. For each channel coupling, problem, a decoupling controller based on the feed—forward compensation was designed. Feed—forward compensation structure is simple and decoupling network order low. Combining feedback linearization technology and the optimal control theory, a nonlinear optimal controller based on the precise feedback linearization was investigated. Then the complicated nonlinear problems were transformed to linear problems. The system performances were achieved using asymptotic output tracking. The simulations demonstrate feed-forward compensation decoupling controller can effectively eliminate the coupling. But when the system is highly nonlinear,only the feed-forward compensation decoupling control could not achieve high quality performance requirements. However, the optimal controller is designed based on exact feedback linearization, when considering the system of nonlinear, it can quickly and accurately achieve the preset.
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