分解式PID-模糊控制及其在ABS中的应用

为解决路面发生跃变时车轮抱死的问题，提出一种分解式PID模糊控制器（p-I-D Fuzzy），并应用于ABS。建立模糊系统输出与输入的函数关系，结合PID表达式，理论分析表明该型控制器具有类似参数自适应整定PID的功能。分别在典型的高、中、低附着路面，以及跃变路面上进行仿真实验。结果表明这种控制器适应性强，在跃变路面下，超调量小，跟踪迅速。

Decomposed PID Fuzzy Control and Its Application to ABS

In order to resolve the problem of wheel lock when road surface changes suddenly, a decomposed PID fuzzy controller, P-I-D Fuzzy, is proposed and used by ABS. The mathematical relation between input and output of fuzzy system is established, combined with PID expres- sion. The theoretical analysis shows that the controller has similar function with self-adapting PID. Simulation is done for high, medium, low adhesion road surface and changing adhesion road surface. The results indicate that the controllerg adaptability is more excellent;and when road conditions change it provides less overshoot and shorter setting time.