Fractional Control of An Active Four-wheel-steering Vehicle

2017 International Symposium on Application of Materials Science and Energy Materials

材料科学;能源学

Wang, Tianting^1 ; Tong, Jun^1 ; Chen, Ning^1 ; Tian, Jie^1

College of Automobile and Trafffic Engineering, Nanjing Forestry University, China^1

关键词: Active four-wheel steering;    Four-wheel steering (4WS);    Fractional controllers;    Optimal controller;    Optimization techniques;    Reference modeling;    Unmodelled dynamics;    Vehicle parameters;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/322/7/072048/pdf
DOI  :  10.1088/1757-899X/322/7/072048

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

A four-wheel-steering (4WS) vehicle model and reference model with a drop filter are constructed. The decoupling of 4WS vehicle model is carried out. And a fractional PIλDμcontroller is introduced into the decoupling strategy to reduce the effects of the uncertainty of the vehicle parameters as well as the unmodelled dynamics on the system performance. Based on optimization techniques, the design of fractional controller are obtained to ensure the robustness of 4WS vehicle during the special range of frequencies through proper choice of the constraints. In order to compare with fractional robust controller, an optimal controller for the same vehicle is also designed. The simulations of the two control systems are carried out and it reveals that the decoupling and fractional robust controller is able to make vehicle model trace the reference model very well with better robustness.