H∞ control of novel active steering integrated with electric power steering function
来源期刊：中南大学学报(英文版)2013年第8期
论文作者：ZHAO Wan-zhong(赵万忠) LI Yi-jun(李怿俊) WANG Chun-yan(王春燕) ZHAO Ting(赵婷) GU Xiao-yue(谷霄月)
文章页码：2151 - 2157
Key words：vehicle engineering; active steering; electric power steering; H∞ control
Abstract: Based on the traditional active steering system, a novel active steering system integrated with electric power steering function was introduced, which can achieve the functions of both active steering and electric power steering. In view of the interference from road random signal and sensor noise in the novel active steering system, the H∞ control model of the novel active steering system was built. With satisfying steering feel, good robust performance and steering stability being the control objectives, the H∞ controller for the novel active front steering (AFS) system was designed. The simulation results show that the novel AFS system with H∞ control strategy can attenuate the road interference quickly, and there is no resonance peak in the bode diagram. It can make the driver obtain more useful information in the low frequency range, and attenuate the road interference better in the high frequency range, thus the driver can get more satisfying road feeling. Therefore, the designed H∞ controller can synthesize the advantages of both robust performance and robust stability, and has certain contribution to the design of novel AFS system.
ZHAO Wan-zhong(赵万忠)1, 2, 3, LI Yi-jun(李怿俊)1, WANG Chun-yan(王春燕)1, ZHAO Ting(赵婷)1, GU Xiao-yue(谷霄月)1
(1. Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. National Engineering Laboratory for Electric Vehicles (Beijing Institute of Technology), Beijing 100081, China;
3. State Key Laboratory of Mechanical Transmission (Chongqing University), Chongqing 400044, China)
Abstract:Based on the traditional active steering system, a novel active steering system integrated with electric power steering function was introduced, which can achieve the functions of both active steering and electric power steering. In view of the interference from road random signal and sensor noise in the novel active steering system, the H∞ control model of the novel active steering system was built. With satisfying steering feel, good robust performance and steering stability being the control objectives, the H∞ controller for the novel active front steering (AFS) system was designed. The simulation results show that the novel AFS system with H∞ control strategy can attenuate the road interference quickly, and there is no resonance peak in the bode diagram. It can make the driver obtain more useful information in the low frequency range, and attenuate the road interference better in the high frequency range, thus the driver can get more satisfying road feeling. Therefore, the designed H∞ controller can synthesize the advantages of both robust performance and robust stability, and has certain contribution to the design of novel AFS system.
Key words:vehicle engineering; active steering; electric power steering; H∞ control
