Neural network generalized inverse decoupling controller of automobile chassis integrated system and construction method

Abstract

The invention discloses a neural network generalized inverse decoupling controller of an automobile chassis integrated system. The automobile chassis integrated system is composed of a driving front-wheel steering sub-system, a direct yawing moment control sub-system and a driving suspension frame sub-system of an automobile chassis. A static neural network and a plurality of linear elements form a neural network generalized inverse of the automobile chassis integrated system, and the neural network generalized inverse and the automobile chassis integrated system are connected in series to form a generalized pseudo-linear system. The generalized pseudo-linear system is decoupled to form three pseudo-linear sub-systems with single input and single output. A linear closed-loop controller is used for carrying out PID regulation on the pseudo-linear sub-systems. The linear closed-loop controller and the neural network generalized inverse form the neural network generalized inverse decoupling controller of the automobile chassis integrated system. The invention further relates to a constriction method of the neural network generalized inverse decoupling controller of the automobile chassis integrated system.

Description

technical field [0001] The invention relates to the field of vehicle engineering equipment, in particular to a controller and a construction method of an automobile chassis integration system based on a neural network generalized inverse, which are applied to high-performance integrated control of automobile chassis. Background technique [0002] The automobile chassis is composed of multiple subsystems such as steering system, transmission system, driving system and braking system, which receive power from the engine and drive under the control of the driver. With the advancement of technology, people have higher and higher requirements for the performance of automobiles, requiring automobiles to have good transmission, excellent maneuverability, driving comfort and safety, etc. Therefore, by controlling the lateral and longitudinal The vehicle control technology that improves the maneuverability and ride comfort of the vehicle through vertical motion and vertical motion ha...

AI Technical Summary

Problems solved by technology

[0003] The research on the decoupling control of the automobile chassis integrated system is the basis and difficulty to realize its high-performance control. At present, the decoupling control of the automobile chassis integrated system is mainly: the use of nonlinear decoupling control theory to realize the active suspension subsystem and electric power assist The decoupling control between steering subsystems, the decoupling control algorithm of this method is relatively complicated, especially when there are many system state variables, the decoupling matrix of the system has a large dimension, and it is difficult to realize more control over the automobile chassis integration system. The subsystem realizes decoupling control, and the implementation of this method depends heavily on the mathematical model of the controlled object. Since it is difficult to accurately establish the model of the automobile chassis integration system, the effect of this decoupling strategy is not good.

In addition, this method only solves the decoupling control between the lateral and vertical directions of the automobile chassis integrated system, and does not take into account the nonlinear coupling relationship between the longitudinal direction, the lateral direction, and the vertical direction of the automobile chassis integrated system.

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