独立旋转车轮有轨电车μ综合导向控制

μSynthesis Active Guidance Control of Tramcar with Independently Rotating Wheels

摘要:

采用μ综合方法设计了低地板有轨电车主动导向鲁棒控制器，以使其重新获取由于采用独立旋转车轮而失去的直线对中和曲线通过能力，同时对车辆系统的参数不确定性具有良好的鲁棒性能.建立了独立旋转车轮有轨电车的两轴车模型，模型中每个车轮和一个轮毂电机相联.通过控制同一车轴左右轮上的电机输出转矩实现车辆的主动导向控制.在Matlab软件中对控制器进行了仿真验证，结果表明控制算法能够同时满足系统的鲁棒稳定性和鲁棒性能，并使车辆获得良好的直线对中和曲线通过性能.

Abstract:

This paper presents a robust active guidance controller using robust μ synthesis method, to let the tramcar possess selfguidance and steering ability again which is lost by adopting independent rotating wheels(IRWs), and to deal with parametric uncertainties such as creep coefficients and wheelset conicity variations. A twoaxle tramcar model with IRWs was established, in which each wheel was associated with a hub motor. By controlling the torque of the motor connect with the left and right side wheels in the same axle, active guidance and steering was achieved. A validation of the control method was carried out by using Matlab, the simulation results show that the control algorithm can satisfy the robust stability and robust performance of the system, and let the tramcar obtain good selfguidance and steering performance at the same time.