| 基于模糊自适应PID控制器的多轴车辆转向控制系统设计及仿真 |
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| 引用本文： | 文桂林,韩汪利,周兵.基于模糊自适应PID控制器的多轴车辆转向控制系统设计及仿真[J].科技导报(北京),2011,29(20):23-26. |
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| 作者姓名： | 文桂林 韩汪利 周兵 |
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| 作者单位： | 湖南大学;汽车车身先进设计制造国家重点实验室,长沙 410082 |
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| 摘 要： | 通过对多轴转向车辆数学模型进行简化,获得某型号五轴全路面起重机的二自由度操纵动力学模型,并基于零质心侧偏角控制策略推导出各后轮转角与前轮转角及车速的函数关系.在对比例阀和转向执行机构(液压缸)进行简化的基础上,在Matlab/Simulink中建立了转向系统完整的数学模型.为克服传统PID控制器的缺点,基于Matlab模糊逻辑控制模块建立了转向系统模糊自适应PID控制器,对PID控制器各个控制参数进行在线整定,以此获得较高的控制精度.以25km/h速度下稳态回转试验对该控制器进行仿真验证.经过仿真分析后发现,该模糊控制器取得很好的效果,系统响应迅速,跟随性好,完全能满足控制需要.
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| 关 键 词： | 五轴全路面起重机 二自由度模型 零质心侧偏角控制策略 模糊自适应PID控制 |
Design of Multi-axle Vehicle Steering Control System and Simulation Based on Fuzzy Adaptive PID Controller |
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| WEN Guilin,HAN Wangli,ZHOU Bing State Key Laboratory of Advanced Design , Manufacturing for Vehicle Body,Hunan University,Changsha ,China.Design of Multi-axle Vehicle Steering Control System and Simulation Based on Fuzzy Adaptive PID Controller[J].Science & Technology Review,2011,29(20):23-26. |
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| Authors: | WEN Guilin HAN Wangli ZHOU Bing State Key Laboratory of Advanced Design Manufacturing for Vehicle Body Hunan University Changsha China |
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| Institution: | State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body; Hunan University, Changsha 410082, China |
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| Abstract: | A 2-DOF model of the five-axle all terrain crane with some simplifications is proposed,and based on the assumption of zero side-slip angle of mass center and the proportional control strategy,the function relating the angles of the rear and the front axles,and the velocity are derived.With some simplifications with respect to the proportional valve and the cylinder,a mathematical model of the steering system in Matlab/Simulink is established.In order to overcome the weakness of the traditional PID controlle... |
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| Keywords: | five axles all terrain crane 2-DOF model zero side-slip angle of mass center control strategy fuzzy adaptive PID controller |
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