基于模糊PID的汽车高速转弯制动工况控制策略

Control strategy of vehicle turn and brake with high speed based on fuzzy PID control

为改善普通ABS控制器在低附着路面、高速弯道制动这种危险工况下对车辆稳定性帮助不足的情况,运用Carsim软件建立整车模型,结合模糊PID控制理论,设计一种基于横摆角速度误差和质心侧偏角的横向稳定模糊PID控制器。使用Carsim和Matlab/Simulink软件对高速行驶的汽车在低附着路面、角阶跃输入的紧急制动工况下进行联合仿真,并对仿真结果进行分析。仿真结果表明:相比于仅有传统ABS控制器的车辆,添加该横向稳定模糊PID控制器的车辆侧滑得到抑制,车辆的轨迹追踪性能得到提高,车辆的制动稳定性得到改善。

In order to improve the situation that ordinary ABS controller cannot fully secure the vehicle stability under the dangerous condition of low attached pavement, braking around the turn with high speed, by combining the fuzzy PID control theory, a vehicle dynamics model based on yaw rate error and vehicle slip angle with the software of Carsim is designed. The simulation of the emergency braking process of the vehicles with angle step input and low attached pave- ment is analyzed by the software of Carsim and Matlab/Simulink. Simulation results show：the vehicle with designed fuzzy PID control is more satisfied with the expected goal than the vehicle only with ordinary ABS controller;the side slip of the vehicle is suppressed ; the tracking performance of the vehicle is improved ; the braking stability of vehicle is improved to a certain extent.