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针对电动助力转向(EPS)系统存在系统模型、干扰等不确定性,以及对系统动态特性的要求,提出基于遗传算法的EPS系统混合H2/H∞控制器.在EPS系统及整车二自由度数学模型基础上,以转向路感、系统鲁棒性和转向稳定性为控制目标,构建系统的状态空间方程和增广被控对象矩阵,并运用H∞方法极小化系统中各种干扰对被控输出的影响,并在此基础之上应用H2方法对系统进行优化,提出基于遗传算法的EPS系统混合H2/H∞控制方法.EPS系统路感仿真结果表明,基于遗传算法的EPS系统混合H2/H∞控制器,综合了H控制和H∞控制的优点,具有较好的鲁棒性能和鲁棒稳定性,可有效抑制路面随机激励、转矩传感器量测、模型参数不确定等所引起的各种干扰和噪声,使驾驶员获得满意的路感.
A hybrid H2 / H∞ controller based on genetic algorithm (EPS) is proposed for EPS system with uncertainty of system model, interference and other dynamic characteristics. In the EPS system and two degrees of freedom Based on the mathematical model, this paper takes the steering sense, the system robustness and the steering stability as the control objectives, constructs the state space equation of the system and augments the matrix of the controlled object, and applies H∞ method to minimize the various interference pairs And the H2 output is used to optimize the system.Based on the genetic algorithm, the hybrid H2 / H∞ control method for EPS system is proposed.EPS system road-feeling simulation results show that the genetic algorithm based EPS system hybrid H2 / H∞ controller, which combines the advantages of H-control and H∞-control, has good robustness and robust stability, can effectively suppress the random excitation of road surface, the measurement of torque sensor and the uncertainty of model parameters Caused by a variety of interference and noise, so that drivers get a satisfactory sense of the road.