Thiết kế bộ điều khiển ổn định quỹ đạo chuyển động thông qua điều khiển lực phanh

Tran Van Nhu Tap chi KHOA HOC & CONG NGH$ 169(09). 177- 182

THIET KE BO DIEU KHIEN ON DINH QUY DAO CHUYEN DQNG THONG

QUA DIEU KHIEN Lir e PHANH

Tran Van Nhu'

Tiirdng Dgi hoc Giao thdng Vgn idi

TOM TA T

On dinh quy d^o chuyen dSng ciia 6 t6 la mgt tinh ch^t quan trpng danh gia an toin chu dpng cua

6 to va tinh tien nghi lai xe Trong bai bao nay, tac gia trinh bay tiiuat loan dieu khien on dmh quJ

dao chuyen dong ciia 6 to thong qua dieu khien phanh tren co so phuong phap dieu khien LQR Thuat

toan dieu khi^n thiet ke tic dong vao he thong phanh dam bao vfin toe quay than xe va goc chuy6n dong

lech ben ciia 6 to bam flieo gia tn tham chieu duac tinh toan Cii mo hinh dong hoc, Ket qua nghien ciru

cd the ling dung cho nghien cim ly thuyet va thuc nghiem he thong ESP tr£n 6 to.

Tir khoa: On dinh quy dgo; Dong life hoc quay vong, ESP, VSC; LQR; Dieu khien quay vdng

TONG QUAN

Trong dieu khien dpng luc hpc d td, dieu

khien dn dinh quy dao chuyen ddng rat quan

trong, nd danh gia tinh on dinh chuyen dong,

nang cao tinh an toan chii dong cua d td. He

tiiong dieu khien on dinh quy dao chuyen

dong giiip lai xe giii d td chuyen dong dn dinh

theo quy dao chuyen ddng mong muon. Cd

nhieu phuang phap dieu khien on dinh quy

dao chuyen dong ciia d td nhu dieu khien

thdng qua he thong lai lich cue trudc (AFS),

he thdng lai tich cue sau (ARS), dieu khien

thdng qua he thdng Iai bon banh tich cue

(4WS), thong qua dieu khien phanh (ESP,

ESC) hoac kel hap giiia dieu khien lai tich

cue va dieu khien phanh

De dieu khien dn dinh quy dao chuyen ddng

ciia d td theo quy d?o mong muon cd the sti

dung 3 bien dieu khien la toe dp quay than xe

^ va gdc chuyen dpng lech ben ciia bib P

hoac gia tdc ngang cua than xe a^ Cd the

chia thanh 4 loai bd dieu khien: dieu khien

theo van loc quay than xe, dieu khien theo

gdc chuyen ddng lech ben cua d td; ket hap

dieu khien toe dp quay than xe va gdc chuyen

ddng Iech ben cua d td; dieu kien theo gia tdc

ngang cua than xe Ba b$ dieu khign dau duoc

nhieu tac gia tap trung nghien ciiu ap dung

cac phuang phap dieu khien nhu phuong

phap dieu khien LQR [I], [2], dieu khien

phan hdi trgng thai tren ca sd LMI (Linear

Matrix Inequalities) [3]-[6], dieu khien theo

phuang phap GPC (Generalized Predictive

Control) [7],

Kha nang kiem soat gdc quay than xe ij/ va

gdc chuyen dong lech cua d td /? bam theo

gia tn mong mudn tuang ling la (//, va /?, se

nang cao tinh dn dinh quy d^o chuyen ddng

cua d td. Trong cac nghien ciru [I], [2] cac tac

gia su dung cac gia tri mong muon dugc tinh

loan tir mo hinh tham chieu d dieu kien on

dinh va phy thudc vao h? so on dinh k '

¥, -' (I)

ilf+l,.) + kv

Trong do. v - van toe cua d Id, (5 - gdc ciia

banh xe dan hudng; 1^,1^ - tuang iing la

khoang each tit trong tam d to den tryc trudc

va true sau; k - he so on dinh, duac xac dinh

theo bieu thiic.

m^l,C, -l,C,)

(V

vdi, m - khoi lugng cua d Id. C^,C^ - tuong

ling la do Cling ngang cua lop trudc va lop

sau Gia tri mong muon gdc chuyen dpng lech

ciia d td xac dinh theo bieu thuc

l^tj/^ mljif/v

V C, (//+/,.) (^)