履带式装甲车辆纵向速度控制

履带式装甲车辆的动力学系统具有强烈非线性、不确定性的特点,为解决直线行驶工况下的速度控制问题,结合驾驶员驾驶操纵经验,提出一种自适应性强的变论域分相模糊比例-积分-微分(proportion-integral-derivative, PID)控制方法,实现了对期望车速的有效跟随。首先建立包含发动机、传动系及制动系的装甲车辆纵向动力学模型,然后利用模糊算法在线整定PID控制器参数,并采用变论域分相设计进一步提高控制器的自适应能力。仿真实验结果表明,提出的控制方法与传统PID及模糊PID相比,车速跟随控制精度与快速收敛性都有了提高,尤其能够有效解决驱动/制动切换时整车运动状态改变导致的控制效果大幅度下降问题。

Research on Longitudinal Speed Control of Tracked armored Vehicle

The dynamic system of tracked armored vehicle has strong nonlinearity and uncertainty. In order to solve the problem of speed control under direct driving conditions, combined with the driver''s operating experience, a self-adaptive variable universe fuzzy PID control method based on split-phase is proposed. And speed tracking is achieved effectively. Firstly, the longitudinal dynamics model of armored vehicle including the engine, the transmission system and the brake system is established. Then the fuzzy algorithm is used to adjust parameters of the PID controller online, and the design of variable universe based on split-phase is adopted to further improve adaptive ability of the controller. Finally, the simulation results show that compared with the traditional PID and fuzzy PID, the proposed control method has improved the accuracy and rapid convergence of speed control, especially the poor control effect caused by the change of the vehicle''s motion state during the drive/brake switching.