基于参数自整定模糊PID的汽车纵向控制

在对汽车纵向动力学控制系统分析的基础上，探讨基于两车的纵向自动跟踪的控制问题．建立了两车跟随运动的二阶模型，并设计了加影制动的逻辑切换规律．应用参数自整定模糊PID控制，对PID的3个参数进行调节，控制被控车与导航车的车间纵向相对距离和纵向相对速度误差的变化范围，以达到汽车纵向控制的目的；利用小增益定理，得到了模糊PID控制系统的稳定性充分条件．仿真结果表明：该方法与一般模糊控制相比，减少了系统的超调量，增强了动态抗干扰能力，具有一定的鲁棒性，较好地解决了快速性和小超调之间的矛盾．

Parameters self-tuning fuzzy-PID control on vehicle longitudinal control

Based on the analysis of the system of vehicle longitudinal dynamics control,the longitude control of track homing for the platoon of the two vehicles is discussed.The second-order-control model of the longitude relative distance for a vehicle to a vehicle is presented,and the logical switch ruler between an engine and a brake is designed.The parameters of auto-adjusting fuzzy-PID control method are used by adjusting the three parameters of PID to control the varying range of error for the longitude relative distance and relative velocity between the controlled vehicle and the navigation vehicle.The stability condition of the fuzzy-PID control system is obtained using small gain theorem.The results of simulation show that,compared with fuzzy control,the parameters auto-adjusting fuzzy-PID control method can decrease the overshoot,enhance the capacity of anti-dynamic disturbance and have certain robustness.The contradictory between rapidity and small overshoot has been solved.vehicle;dynamic control;longitudinal control;parameters auto-adjusting;fuzzy-PID