基于模糊自整定PID 的爆胎车辆轨迹控制

为解决高速公路爆胎车辆出现偏航的问题, 借助veDYNA 软件进行了的仿真研究。在确定了爆胎车辆轨迹控制的评价指标后, 采用模糊PID(Proportion Integral Differential)控制器, 规划了爆胎后车辆的方向盘转角, 代替驾驶员对爆胎车辆进行方向控制。该方法结合模糊控制和传统PID 控制的优点, 针对车辆爆胎的复杂环境, 自动整定PID 控制参数, 适应爆胎车辆的参数变化。仿真结果表明: 基于模糊自整定PID 的爆胎车辆轨迹控制可在保证车辆稳定行驶的同时控制车辆的行驶轨迹, 使其在出现较小偏移后回到原路径, 具有较好的适应性。

Trajectory Control of Vehicles with Blowout Tire on Expressway Based on Fuzzy PID Algorithm

A simulation research is carried out with the veDYNA software for the yawing motion of the vehicle during a tire blowout on the expressway. Firstly, the evaluation criteria of motion vehicles during a tire blowout are determined. Then, in order to replace the driver to control the direction of the vehicle, a fuzzy PID(Proportion, Integral, Differential) controller is adopted to plan the steering wheel angel of the vehicle with a blowout tire. This control scheme combines the advantages of fuzzy control method with the advantages of traditional PID control method. It can adjust the PID control parameters for different working conditions and complex road environments, to adapt to the changes in parameters of the vehicle during a tire blowout. The simulation shows that the trajectory control of vehicles with blowout tire based on the fuzzy PID can make the vehicle avoid yawing, the vehicle can be driven back to the original path after a small offset. It proves that this control scheme has a better adaptive ability.