摘要
为了提高线性转向控制系统控制性能以及控制系统的快速性、准确性、稳定性,基于快速控制原型技术搭建RCP测试平台,对比不同控制策略对线性转向系统控制性能的影响。通过建立执行电机的数学模型,依据其动态特性逐步设计优化PD控制器、串级三闭环PID控制器以及模糊PID控制器,分析3种控制器的阶跃响应性能。基于dSPACE设计搭建RCP快速原型控制测试平台,分别对控制器的跟随性能进行半实物仿真实验,对比分析控制器的性能优劣。半实物仿真实验结果表明:模糊PID控制策略在转角跟随性能控制中更为优异。
In order to improve the control performance of linear steering control system with rapidity,accuracy and stability,this paper builds a RCP test platform based on the rapid control prototype technology,and compares the effects of different control strategies on the control performance of the linear steering system.With the establishment of the mathematical model of the executive motor,the PD controller,cascade three closed loop PID controller and fuzzy PID controller are gradually designed and optimized according to their dynamic characteristics,and the step response performance of the three controllers is analyzed.The RCP rapid prototype control test platform is built based on dSPACE design,the following performance of the controller is tested in semi-physical simulation and the performance advantages and disadvantages of the controller are compared and analyzed.The results show that the fuzzy PID control strategy is superior in the control of corner following performance.
作者
蒋明朝
LIU Henke
唐阳
张鑫
曾贵萍
JIANG Mingchao;LIU Henke;TANG Yang;ZHANG Xin;ZENG Guiping(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610036,China;Ostfalia University of Applied Sciences,Wofenbuetel,Germany)
出处
《机械制造与自动化》
2024年第3期229-233,共5页
Machine Building & Automation
基金
四川省科技厅资助项目(2019YFH0045)。
