中国农机化学报
中國農機化學報
중국농궤화학보
Journal of Chinese Agricultural Mechanization
2013年
4期
188-192
,共5页
四轮转向%模糊控制%PID%模型跟踪
四輪轉嚮%模糊控製%PID%模型跟蹤
사륜전향%모호공제%PID%모형근종
Four-wheel-steering%fuzzy control%PID%Model following
利用非线性三自由度汽车模型,在matlab/simulink模块中建立模糊PID控制器,对理想横摆角速度和质心侧偏角进行跟踪,来改善汽车的操纵稳定性。联合质心侧偏角和横摆角速度的模糊控制,分别与单一的质心侧偏角模糊控制、横摆角速度控制模糊控制进行时域仿真对比,仿真结果表明,联合模糊PID控制大大减小了质心侧偏角振荡峰值,同时横摆角速度增益对理想值很好的跟踪,有效改善四轮转向汽车的质心侧偏角和横摆角速度的响应特性,提高了车辆的安全性、平稳性。
利用非線性三自由度汽車模型,在matlab/simulink模塊中建立模糊PID控製器,對理想橫襬角速度和質心側偏角進行跟蹤,來改善汽車的操縱穩定性。聯閤質心側偏角和橫襬角速度的模糊控製,分彆與單一的質心側偏角模糊控製、橫襬角速度控製模糊控製進行時域倣真對比,倣真結果錶明,聯閤模糊PID控製大大減小瞭質心側偏角振盪峰值,同時橫襬角速度增益對理想值很好的跟蹤,有效改善四輪轉嚮汽車的質心側偏角和橫襬角速度的響應特性,提高瞭車輛的安全性、平穩性。
이용비선성삼자유도기차모형,재matlab/simulink모괴중건립모호PID공제기,대이상횡파각속도화질심측편각진행근종,래개선기차적조종은정성。연합질심측편각화횡파각속도적모호공제,분별여단일적질심측편각모호공제、횡파각속도공제모호공제진행시역방진대비,방진결과표명,연합모호PID공제대대감소료질심측편각진탕봉치,동시횡파각속도증익대이상치흔호적근종,유효개선사륜전향기차적질심측편각화횡파각속도적향응특성,제고료차량적안전성、평은성。
Based on three degrees of freedom nonlinear four-wheel-steering vehicle dynamic model, tracking the ideal value of side slip angle of the vehicle and yaw velocity of the vehicle, a fuzzy PID controller was established to improve the stability of the four-wheel-steering vehicle. Unit-ed fuzzy controller tracking the side slip angle of the vehicle and yaw velocity of the vehicle, compared with fuzzy controller tracking the side slip angle of the vehicle or yaw velocity of the vehicle. Simulation results show that United fuzzy controller can effective reduce the value of side slip angle of the vehicle and track the ideal value of yaw velocity of the vehicle, which can improve the safety and stability of the vehicle.