基于模糊解耦控制的车辆转向制动系统研究

Research of vehicle steering and braking system based on fuzzy decoupling control

车辆转向系统和制动系统之间存在着很强的速度耦合关系,造成两个系统之间的性能相互影响,使得车辆在转向制动这一工况成了汽车最危险的工况之一。本文结合实际车辆参数建立转向系统的二自由度模型和制动系统的单车轮模型,针对车辆转向制动工况设计了模糊解耦控制器,实现了车辆的转向与制动同时控制。经验证含有模糊解耦控制的车辆转向制动系统具有很好的动态控制效果,并且有很强的鲁棒性和自适应性。

The strong velocity coupling relationships between the automotive steering and braking systems and the systems performance of mutual influence make the vehicle steering and braking working condition become one of the most dangerous conditions. This paper established a two degree of freedom model of automobile steering systems and a single wheel braking system model based on the actual parameters of vehicle, and designed the fuzzy decoupling controller for controlling simultaneously vehicle steering and braking systems. As a result, the fuzzy decoupling controller of vehicle steering and braking systems has good dynamic control effect, and has strong robustness and adaptability.