车辆横摆角速度跟踪控制仿真研究

Vehicle Yawing Angular Velocity Tracking Control Simulation Study

采用二自由度车辆动力学状态方程建立了车辆横摆角速度跟踪控制模型。用横摆角速度与其期望值的差值及其变化率作为模糊控制器的输入,设计了模糊自适应PID控制器。基于模糊自适应PID控制器,进行了前轮转向阶跃输入、正弦输入仿真试验。仿真和分析结果表明,设计的模糊PID控制器可实现对参考模型横摆角速度的跟踪,车辆的操纵稳定性得到了有效改善。

A yaw rate tracking control model has been developed based on two degrees of freedom vehicle dynamic state equation. By using the Difference and its change rate between the yaw rate value and the desired value, a fuzzy adaptive PID controller was designed. Based on the controller of fuzzy adaptive PID, these simulation test were carried out such as step response, sinusoidal input. The results of computer simulation and analysis show that the fuzzy adaptive PID controller to be designed can achieve the desired results of tracking yaw rate of ideal reference vehicle steering model. The handling stability is significantly improved as compared to the uncontrolled one and the universal PID control one.