Generalized Inverse Internal Model Controller and Construction Method for Automobile Chassis Integrated System

Abstract

The invention provides an automotive chassis integrated system generalized inverse internal model controller and a construction method. The controller is composed of an internal model controller and a generalized inverse system. The internal model controller is composed of a side slip angle internal model controller, a yaw velocity internal model controller and a vehicle roll angle internal model controller, wherein the side slip angle internal model controller, the yaw velocity internal model controller and the vehicle roll angle internal model controller are in parallel. The generalized inverse system and an automotive chassis integrated system in parallel form a generalized pseudo-linear system. The generalized inverse system is composed of four linear elements and a nonlinear map. The generalized pseudo-linear system comprises a side slip angle linear subsystem, a yaw velocity linear subsystem and a vehicle roll angle linear subsystem. The automotive chassis integrated system is composed of an active front wheel steering subsystem, a direct yawing moment torque control subsystem and an active suspension subsystem. The defect of a traditional automotive chassis integrated system control method is overcome. Nonlinear dynamic decoupling control among the side direction, the longitudinal direction and the perpendicular direction is achieved, so that a control system has excellent control quality.

Description

technical field [0001] The invention relates to the technical field of vehicle engineering equipment, in particular to a generalized inverse internal model controller and a construction method of an automobile chassis integration system. Background technique [0002] With the rapid development of the automobile manufacturing industry and the continuous improvement of the theoretical research level of automobile technology, people have higher and higher performance requirements for automobile handling stability, driving safety and ride comfort. As a complex moving body, the automobile is in the process of driving, and there is a relationship of mutual influence and mutual restriction among the various subsystems. Each control subsystem is designed to improve a certain performance index of the vehicle, and the performance of the whole vehicle The improvement of indicators depends on the coordination of various subsystems. Therefore, the integrated control of automobiles (espe...

AI Technical Summary

Problems solved by technology

However, the automobile chassis system is very complex, and it is a multivariable, nonlinear, and strongly coupled complex system. In order to eliminate (or minimize) the coupling and interference between the various subsystems in the automobile chassis system, it is necessary to integrate the The system performs nonlinear decoupling control

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