基于模糊PID算法的双侧电传动履带车辆转向控制策略研究

Research on Turning Control Strategy Based on Fuzzy-PID Algorithms for Dual Electric Tracked Vehicle

为了提高电传动履带车辆的转向控制性能,首先进行了履带车辆转向动力学分析,研究了履带车辆转向特性,进而针对履带车辆转向轨迹可控性差、动态响应慢等缺点,提出一种基于模糊PID算法的双侧电传动履带车辆转向控制策略,将驾驶员转向意图解释为内侧电机制动力矩,并通过模糊算法对外侧电机力矩进行跟随控制,实现稳定的转向轨迹并提高转向响应速度。转向过程中的纵向车速由PID算法进行控制,通过模糊因子来实现模糊控制算法与PID算法之间的融合。仿真结果表明,所提出的控制算法可以实现稳定可控的转向轨迹,具有良好的鲁棒性,与传统转向力矩分配策略相比,该控制算法的动态响应时间缩短约0.7s。

In order to improve the steering control performance of an electric tracked vehicle, the steering kinetic analysis was made at first and steering characteristics of tracked vehicle were re searched. Then a turning control strategy based on fuzzy and PID algorithms was proposed for dual e- lectric tracked vehicle to improve the turning trajectory control effect and enhance the steer dynamic response ability. Driver＇s steering intention was interpreted as inner motor braking torque while out- side motor torque follow--up control was conducted by fuzzy strategy. Lengthways speed was adjus- ted by PID algorithm; the fuzzy control and PID algorithm were fused by fuzzy output factor. Simula- tion results indicate that algorithms presented can realize stable steering radius and response time can be shortened by about 0.7 seconds with this presented control strategy.