Vehicle Active Steering Control Research Based on Two-DOF Robust Internal Model Control

作     者：WU Jian LIU Yahui WANG Fengbo BAO Chunjiang SUN Qun ZHAO Youqun 

作者机构：School of Mechanical and Automotive EngineeringLiaocheng University State Key Laboratory of Automotive Safety and EnergyTsinghua University College of Energy and Power EngineeringNanjing University of Aeronautics and Astronautics 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2016年第29卷第4期

页      面：739-746页

核心收录：

学科分类：0817[工学-化学工程与技术] 08[工学] 082304[工学-载运工具运用工程] 0807[工学-动力工程及工程热物理] 080204[工学-车辆工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 0823[工学-交通运输工程] 

基　　金：Supported by National Natural Science Foundation of China(Grant No.51375009) PhD Research Foundation of Liaocheng University,China(Grant No.318051523) Tsinghua University Initiative Scientific Research Program,China 

主　　题：active steering internal model control model tracking robust performance crosswind disturbances 

摘      要：Because of vehicle＇s external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability *** robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control（IMC） algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain *** proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model *** order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom（DOF） robust internal model controller structure is given from the standard Youla *** of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre *** show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind *** between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.