基于线性矩阵不等式的重型车辆防侧翻鲁棒控制算法研究

摘要

将重型车辆侧翻稳定性控制问题转化为通过状态反馈控制实现鲁棒干扰抑制的问题.在此基础上,以动态横向载荷转移率为控制目标,设计一个基于线性矩阵不等式(LMI)的状态反馈鲁棒控制器.利用商业软件Trucksim中的模型,进行开环和人-车闭环的侧翻稳定性控制对比仿真.结果表明,LMI防侧翻鲁棒控制器可有效提高车辆的侧倾稳定性,并具有较好的抗干扰性和鲁棒性.%The problem of rollover stability control of heavy vehicle is transformed into the problem of achieving robust interference suppression by state feedback control. On this basis, taking the lateral load transfer ratio as control objective, a robust state feedback controller is designed based on linear matrix inequality (LMI). And then both open-loop and human-vehicle closed loop rollover stability controls are comparatively simulated with the models available in commercial software Trucksim. The results show that the LMI robust rollover controller can effectively improve the rollover stability of vehicle with better interference immunity and robustness.