汽车转向系统的鲁棒镇定PID控制器

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI:10.1109/ACC.1998.694624

Long Wang, J. Ackermann

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引用次数: 11

摘要

分析了偏航率通过正增益PID控制器对前轮转向角的反馈。结果表明，任何这样的控制器都不能使处于稳定速度范围内的过转向汽车变得不稳定。对于转向不足的汽车，推导出了可能造成稳定性损失的车辆参数边界。

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Robustly stabilizing PID controllers for car steering systems

Yaw rate feedback to the front wheel steering angle via a PID controller with positive gains is analyzed. It is shown that oversteering cars in their stable velocity range cannot be made unstable by any such controller. For understeering cars bounds on the vehicle parameters for the possible loss of stability are derived.

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Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)

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