爆胎车辆应急自动制动系统稳定控制的策略研究

Research on Stability Control Scheme of Emergency Automatic Braking System for Puncture Vehicles

在完成轨迹控制评价指标构建的基础上,对不同控制器控制爆胎车辆轨迹的效果进行了研究和分析,静态PID控制器通常基于某一车速建立导致对在其他行驶车速下的爆胎车辆行驶控制效果降低。为有效提升爆胎车辆的轨迹控制效果提出增益可变PID控制器。该控制器根据不同的爆胎车速标定事先获得相关参数,将该控制方案应用于轨迹控制仿真实验中,实现了对爆胎车辆行驶轨迹的有效控制过程,恢复到原路径时只出现了较小的偏移。

Based on the completion of the construction of the trajectory control evaluation index,this paper studies and analyzes the effect of different controllers in the trajectory control of the blasting vehicle.The static PID controller is usually based on the establishment of a certain speed,which leads to failure if the driving speed at other driving speeds.In order to effectively improve the trajectory control of the flat tire vehicle,a gain variable PID controller is used.The controller obtains relevant parameters in advance according to different tire speeds,and applies the control scheme to the trajectory.In the control simulation experiment,the effective control process of the trajectory of the puncture vehicle is realized,and only a small offset occurs when the original path is restored.