半挂汽车列车横摆模糊PID控制研究

Fuzzy PID Control for Yaw Velocity of Semi-trailers

建立了三自由度半挂汽车列车模型,应用Matlab/Simulink对横摆角速度、侧向速度和牵引角进行了仿真,在此基础上采用模糊PID控制器对半挂车横摆角速度进行控制。研究结果表明:经过模糊PID控制的半挂车的横摆角速度比未加控制的牵引车横摆角速度稳态值降低25%,瞬态响应调整时间缩短12%,最大超调量下降39%.侧向速度和牵引角也有改善。

A dynamic model of semi-trailer with three degrees of freedom was established. The simulations for yaw velocity, lateral velocity and tbld angle were carded out by using Matlab/Simulink, and hereon, the fuzzy PID controller was used to control yaw velocity of semi-trailer. The research results expatiated that the yaw velocity stead state value of semi-trailer with Fuzzy PID control was reduced by 25% as being compared with that of non-controlled fold angle, the temporal response governing time was reduced by 12%, the maximum overshoot fell down to 39% than that without control. Both of the lateral acceleration and the tbld angle were also improved.