摘要
采用基于参数化建模的Carsim软件建立汽车整车动力学仿真模型,运用汽车动力学理论,建立PID控制器模型,提出以滑移率为控制目标的ABS系统的控制仿真分析.以实际滑移率与期望滑移率的差值作为PID控制器的输入量,通过PID控制最终使汽车在最佳滑移率所对应的地面制动力下进行制动.搭建联合仿真模型,在不同的路面进行联合仿真分析,得到仿真曲线,验证PID控制器的合理性.
Based on the parametric modeling via CarsimTM,the automobile dynamical simulation model is first established using the vehicle dynamics theory and PID controller model.Then,the control simulation analysis on the slipping ratio of wheels is conducted.Next,the deviation between the actual and expected slip ratios is inputted into PID controller.Thereafter,the automobile is braked with the best power and slipping ratio.By constructing a united simulation model,the joint simulation model is finally analyzed on different road situations to obtain the simulation curves.Therefore,the rationality of PID controller is verified.
出处
《中国工程机械学报》
北大核心
2016年第6期-,共6页
Chinese Journal of Construction Machinery
基金
国家自然基金青年科学基金项目(51305190)
辽宁省教育厅项目(L2013253)
关键词
PID控制
联合仿真
PID controller
united simulation
