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LQG理論的電動(dòng)助力轉(zhuǎn)向系統(tǒng)最優(yōu)控制
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    摘要:

    通過(guò)建立電動(dòng)助力轉(zhuǎn)向系統(tǒng)的數(shù)學(xué)模型和計(jì)入隨機(jī)干擾的受控系統(tǒng)狀態(tài)空間表達(dá)式，應(yīng)用極小值原理設(shè)計(jì)了線性二次型高斯?fàn)顟B(tài)反饋控制器，并基于最優(yōu)估計(jì)理論設(shè)計(jì)了離散型Kalman濾波器。最后進(jìn)行了仿真分析，其結(jié)果表明采用這種最優(yōu)控制方法能有效地抑制路面隨機(jī)激勵(lì)、轉(zhuǎn)矩傳感器的量測(cè)噪聲、模型參數(shù)不確定所引起的干擾以及減少轉(zhuǎn)向盤的振動(dòng)，使駕駛員獲得較滿意的路感，設(shè)計(jì)的最優(yōu)控制器使閉環(huán)系統(tǒng)有較強(qiáng)的魯棒性，提高汽車的操縱性能。

    Abstract:

    The mathematical models of the electric power steering system were formed theoretically, and the state-space expression of the stochastic dynamic system was performed first. Then the LQG state feedback controller was designed with the minimum, and a discrete Kalman filter was proposed based on the optimal estimation theory. Finally, the simulation results showed that this optimal control method could attenuate the random road excitation, torque sensor measurement noises, model errors and disturbances reduce oscillations that might occur in the steering column, provide satisfied road feeling for drivers, the controller improves the robust performance of EPS system and enhances maneuverability of the vehicle.

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何仁,李強(qiáng),郭孔輝. LQG理論的電動(dòng)助力轉(zhuǎn)向系統(tǒng)最優(yōu)控制[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2007,38(2):17-21.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(2):17-21.

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