基于模糊PID算法的车身稳定控制策略与多工况联合仿真

MULTI-CONDITION CO-SIMULATIONS OF VEHICLE STABILITY CONTROL VIA FUZZY PID ALGORITHM

汽车电子稳定系统(ESP)是一项关键的主动安全配置,它能够在车辆高速过弯时防止出现侧滑和失控,维持汽车的稳定行驶.为了评估并提高不同工况下整车行驶的稳定性,就需要对目前的车身稳定控制算法进行比较并改进.本文基于Carsim软件建立了某乘用车的整车动力学模型,联合Simulink软件进行车身稳定控制的联合仿真.把整车行驶的侧向位移、质心侧偏角、横摆角速度和侧向加速度等动力学参数作为评价量,基于双移线、正弦和角阶跃工况,采用传统的PID控制算法和目前较新的模糊PID控制算法对整车的行驶稳定性进行控制.仿真结果表明,模糊PID控制策略的实时性和自适应性更好,能够提升整车的行驶稳定性和成员的驾乘舒适性.

The vehicle electronic stability program(ESP)is a critical active safety configuration.It can work correspondingly to ensure the driving stability when the vehicle corners with high speeds.It is necessary to compare and improve the stability control algorithm to evaluate and enhance the vehicle stability in different conditions.In this paper,traditional and fuzzy PID algorithms are presented to simulate the vehicle high speed cornering.A vehicle dynamic model built up Carsim is used for the vehicle stability control.The lateral displacement,vehicle side slip angle,yaw rate and lateral acceleration are selected as parameters for stability evaluations.Afterwards,the co-simulation of vehicle stability control in double shifting,sine and angle step conditions are performed.The simulation results show that the fuzzy PID algorithm based vehicle controller employing the fuzzy PID algorithm meets the stability requirements in different conditions.