CONTROLADOR LQG APLICADO A UM SISTEMA DE DIREÇÃO ELÉTRICA
DOI:
https://doi.org/10.26512/ripe.v2i31.21332Keywords:
Direção Elétrica. LQG. LQR. Filtro de Kalman.Abstract
A utilização de sistemas eletroeletrônicos (E/E) nos automóveis tem aumentado nos últimos anos. Isto se deve principalmente aos diversos benefícios oferecidos por estes sistemas como: redução no consumo de combustível, aumento de performance, conforto e segurança. Um dos sistemas bastante utilizado atualmente é o Sistema de Direção Elétrica Assistida (EPAS). O EPAS pode ser considerado como evolução dos mecanismos de direção tradicionais, e tem como objetivo reduzir o esforço empregado pelos motoristas durante as manobras de esterçamento das rodas. Dentre os diversos componentes que fazem parte do EPAS, destaca-se a Unidade de Controle Eletrônico (ECU) e também a estratégia de controle utilizada. Diante deste cenário, este trabalho tem por objetivo investigar a utilização da estratégia de controle Linear Quadrático Gaussiano (LQG), para o controle de um EPAS. Os resultados das simulações realizadas demonstraram que esta estratégia pode ser utilizada no projeto do controlador, uma vez que apresentou estabilidade e robustez ainda que sob presença de perturbações externas.
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