Research on control strategy for differential steering system based on H mixed sensitivity |
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| Authors: | W. Z. Zhao Y. J. Li C. Y. Wang Z. Q. Zhang C. L. Xu |
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| Affiliation: | 1. Department of Automotive Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
2. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, 400044, China
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| Abstract: | The differential steering system (DSS) of electric wheel vehicle gets rid of the restrictions of traditional steering system completely. As an ideal steering technology, it not only realizes the perfect combination of the road feel and the steering portability, but also realizes the harmony and unification between the steering maneuverability and safety. The structure and basic theory of the DSS of electric wheel vehicle are discussed in this paper. Based on these, the dynamic model of the steering system is built. Considering of the uncertainties and disturbances existing in the model, the H∞ mixed sensitivity control theory is applied to achieve better tracking performance and road feel in the process of steering. Then, a H∞ mixed sensitivity controller is designed to restrain the effect of the road disturbance and model uncertainties. The simulation results indicate that the DSS with the designed controller can effectively restrain the effect of noises and disturbances caused by random motivation from road, torque sensor measurement and model parameter uncertainty, and enable the driver to obtain satisfactory road feel. |
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