四轮转向半挂汽车列车横向稳定性的模糊PID控制

The fuzzy PID direct yaw-moment control of four-wheel steering tractor-semitrailer

提出直接横摆力矩与四轮转向集成的控制方案。建立了四轮转向半挂汽车列车的四自由度非线性动力学模型,以零侧偏角为控制目标确定半挂汽车列车牵引车后轮转角,以牵引车横摆角速度为控制变量,基于模糊PID控制技术设计了直接横摆力矩模糊控制器。借助Matlab/Simulink软件,对该集成控制器的有效性进行了验证。仿真结果表明,高速大转向时,该四轮转向直接横摆力矩集成控制器能得到较好的输出响应,牵引车质心侧偏角、横摆角速度,半挂车横摆角速度及牵引车与半挂车的中心线夹角响应均能很快稳定,可显著提高半挂汽车列车的操纵稳定性。

A four-wheel steering with direct yaw-moment control scheme was proposed. The Gim tire model was adopted to set up the nonlinear dynamic four-wheel steering dynamic model of tractor-semitrailer. Choosing yaw velocity of tractor as control varia- bles, the fuzzy control scheme was proposed. A fuzzy PID controller of direct yaw-moment control for the tractor-semitrailer stabili- ty was developed. Simulation on a slip angle minimization four-wheel steering tractor-semitrailer in Matlab/Simulink is described. The simulation consults suggest that for four-wheel steering tractor-semitrailer with direct yaw-moment control, a good response can be achieved , which makes the handling and stability performance on big slip angle improved, and makes the driver drive the vehicle normally.