【作者】 王妍旻；

【导师】 陈无畏；

【作者基本信息】 合肥工业大学 ， 车辆工程， 2004， 硕士

【摘要】 近年来，为提高车辆乘坐舒适性、安全性和操纵稳定性，各种电子控制技术和控制子系统得到了巨大的发展和广泛的应用。但是，这些控制子系统都是针对提高车辆某一项性能指标，而整车性能的提高则依赖于各个子系统的协调工作。基于此，本文对直接影响车辆操纵稳定性和乘坐舒适性的两个电控子系统—电动助力转向(EPS)和主动悬架系统进行了集成控制的研究。首先对电动助力转向系统进行动力学分析，建立起装有EPS的三自由度整车模型，提出自适应LQG控制策略，进行了仿真研究。在此基础上，分析了EPS和主动悬架这两个子系统间的相互关系，建立了整车模型，提出了基于多变量自适应控制集成控制策略，并进行了仿真计算。最后，进行了台架和实车道路试验研究。研究结果表明，自适应控制能够有效解决模型的不确定性、随机扰动和量测噪声对系统的影响，使转向系统具有良好的助力性能和转向轻便性，悬架系统具有较优的减振性能，从而改善了整车动力学性能。系统在建模时，充分考虑了EPS和主动悬架这两个子系统间的相互影响和协调关系，使得仿真计算时能够获得较精确的计算结果，并与其实际试验结果相吻合。因此，对多个可控子系统进行集成控制，能够弥补对单个子系统控制的不足之处，避免各可控子系统在单独控制时所产生的相互干扰和影响，最终使整车的动力学性能得到很大改善和提高。更多还原

【Abstract】 In recent years, kinds of electronic control techniques and sub-control systems are greatly developed and widely applied to improve ride comfort and handling stability of vehicles. However, all these sub-control systems are aimed at improving one performance of a vehicle, but the improvement of the whole performances in a vehicle is still depended on the cooperative work between various sub-systems. Based on this point, this dissertation carries through the study of integrated control in vehicle electronic power steering (EPS) and active suspension system; two sub-control systems directly influence the vehicle’s handling stability and ride comfort. Firstly, this dissertation develops the dynamics analysis of electronic power steering system, builds the three-dimension model of a vehicle with EPS, suggests adaptive LQG control strategy and does the simulating study. Based on these researches, this dissertation analyzes the relationship between two sub-systems, EPS and active suspension, sets up the model of a full vehicle, suggests the control scheme based on multi-variable adaptive control integration, and does the simulating calculation. Finally, experiments on test bed and road are performed in a real automobile. Results of these researches indicate that adaptive control can efficiently reduce system’s influences caused by model’s uncertainties, stochastic disturbances, and quantified measuring noises. Meanwhile, adaptive control can help the steering system acquire excellent performances of power-assisted and portability characteristics; the suspension system has a good performance of reducing vibration, and can improve dynamical character of a full vehicle. During the process of building the system model, this dissertation sufficiently considers the mutual influences and harmony relationships between two sub-systems, EPS and active suspension; more precise calculating results are acquired by simulating calculation; these results are matched with the results of real experiments. Therefore, integrated control of many sub-systems can make up the weakness of control implemented by one sub-system, avoid the mutual disturbances and influences due to many sub-systems control respectively; it can greatly improve and increase the dynamical performances of a vehicle.更多还原