直驱式主动前轮转向电液位移系统双滑模控制

来源期刊:中南大学学报(自然科学版)2016年第9期

论文作者:黄开启 陈荣华 迟永滨

文章页码:3011 - 3020

关键词:主动前轮转向;永磁同步电机;容积控制;神经网络;自适应;双滑模控制

Key words:active front steering; permanent magnet synchronous motor; volume control; neural network; self-adaptation control; double sliding mode control

摘    要:针对直驱容积式主动前轮转向位移伺服系统存在参数时变、外界干扰以及滑模抖振问题,设计一种汽车液压助力主动转向集成系统,结合神经网络和自适应控制算法,提出一种活塞杆位移与电机转速双滑模控制策略。活塞杆位移采用等效加切换控制律,选用积分形式的快速收敛滑模面设计电机速度等效控制律,利用神经网络对控制律的变化在线估测,并结合自适应算法进行补偿,以抑制传统滑模控制律幅值过大的正负高频切换信号导致的系统抖振,根据Lyapunov理论分析系统的稳定性。研究结果表明:与传统的滑模控制相比,所提出的控制策略不仅能实现对期望位移的准确跟踪,而且能有效削弱系统抖振,增强系统的鲁棒性。

Abstract: A type of hydraulic power and active steering system for vehicle was designed for dealing with the parameter uncertainties, external disturbance and sliding mode chattering exited in the direct-driven active front steering hydraulic servo system. And a control strategy of piston-rod displacement and motor-speed double sliding-mode control was proposed combined with neural network and self-adaptation control algorithm. The equivalent control and switch control were designed for the piston-rod displacement control law, and the motor speed equivalent control law was designed based on the fast convergence sliding surface of integral form. In order to restrain the system chattering caused by the traditional sliding-mode controller with plus-minus high frequency switching signal of excessive amplitude, the neural network online estimation for the control law change and self-adaptation control algorithm was adopted. Furtherly, Lyapunov theory was used to prove its stability. The results show that the control strategies can not only track the expected displacement accurately, but also weaken the chattering and enhance the robustness of system effectively.

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