爆胎车辆轨迹控制的仿真

Simulation of Trajectory Control of Vehicles During a Tire Blowout

为了解决高速公路爆胎车辆出现偏航的问题,进行了爆胎车辆轨迹控制的仿真研究.首先确定了爆胎车辆轨迹控制的评价指标,然后讨论了静态比例、积分、微分(proportion integration differentiation,PID)控制器对高速公路爆胎车辆轨迹的控制效果.由于在某一行驶车速下建立的静态PID控制器不能很好地控制行驶在其他车速下的爆胎车辆,因此,采用了增益可变PID控制器处理爆胎车辆的轨迹控制问题,其中变增益PID控制器的参数是事先针对不同的爆胎车速标定获得的.仿真实验结果表明:变增益PID控制方案应用于爆胎车辆轨迹控制,可在保证车辆稳定行驶的同时控制车辆的行驶轨迹,使其在出现较小的偏移后回到原路径.

An experiment of trajectory control was carried out to deal with the derivation problem forvehicles during a tire blowout on the expressway. Firstly, the evaluation criteria of trajectory control forvehicles during the tire blowout were determined. Then, the trajectory control of the vehicle with a staticPID (proportion integration differentiation) controller on expressway was discussed. Because the staticPID controller determined at a certain speed does not fit for other speeds, a gain scheduling PIDcontroller was adopted to handle the trajectory control problem of vehicles during the tire blowout, whereparameters of the gain鄄scheduling PID controller are calibrated in accordance with the varying speeds. Itshows that the vehicle can avoid yawing as well as keep the driving stability during the tire blowout, anddrive back to the original path after a small offset.