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根据线控转向系统的特点,建立了能够实现系统正常转向功能的前轮转向模块的动力学方程。考虑到系统性能受到参数的不确定性、未建模动态及前轮回正力矩的影响,基于分数阶微积分理论,提出了一种基于分数阶微积分理论的PIλDμ控制器,使得线控转向系统在所要求的频域范围具有鲁棒性。讨论了微、积分阶次以及拟合阶次对控制系统的影响。通过优化方法得到了分数阶PIλDμ控制器的5个设计参数,用Oustaloup递归算法对分数阶PIλDμ控制器进行了拟合,并据此建立了可在Matlab/Simulink环境下使用的分数阶PIλDμ控制器仿真模型。最后对该控制系统进行了仿真分析,结果表明该控制器对提高转向系统性能的鲁棒性是有效的。
According to the characteristics of the steer-by-wire steering system, the dynamics equations of the steering module of the front wheel that can realize the normal steering function of the system are established. Considering that the system performance is affected by parameter uncertainty, unmodeled dynamics and front-wheel maneuvering moments, a PIλDμ controller based on fractional calculus theory is proposed based on fractional calculus theory, which makes the steer-by-wire system Robustness in the required frequency domain. The effects of micro, integral order and fitting order on the control system are discussed. Five design parameters of fractional order PIλDμ controller are obtained through optimization method. Fractional order PIλDμ controller is fitted by Oustaloup recursive algorithm. Based on this, fractional PIλDμ controller can be used in Matlab / Simulink environment Simulation model. Finally, the simulation analysis of the control system shows that the controller is effective in improving the robustness of the steering system.