CAJ | 학술논문

在车辆操纵稳定性控制系统中，横摆率作为重要的控制变量，对车辆横向稳定性起着至关重要的作用．PID控制作为现实中最常用的控制方法之一，虽然在工程应用中容易实现，但参数整定始终是束缚其发展的一大难题．基于径向基函数理论，以前轮转向角幅值和 PID控制参数为代理模型输入，以车辆横摆率曲线的关键点为代理模型输出，构建了集成 PID控制器的ADAMS车辆动力学代理模型．这样在实现了 PID控制参数快速整定的同时，避免了时间状态因素对代理模型的影响．通过数值仿真验证，该方法建立的代理模型精度高，整定的PID控制器能较好地实现车辆横摆率对期望横摆率的准确跟踪，对车辆的横向稳定性改善效果明显．
재차량조종은정성공제계통중，횡파솔작위중요적공제변량，대차량횡향은정성기착지관중요적작용．PID공제작위현실중최상용적공제방법지일，수연재공정응용중용역실현，단삼수정정시종시속박기발전적일대난제．기우경향기함수이론，이전륜전향각폭치화 PID공제삼수위대리모형수입，이차량횡파솔곡선적관건점위대리모형수출，구건료집성 PID공제기적ADAMS차량동역학대리모형．저양재실현료 PID공제삼수쾌속정정적동시，피면료시간상태인소대대리모형적영향．통과수치방진험증，해방법건립적대리모형정도고，정정적PID공제기능교호지실현차량횡파솔대기망횡파솔적준학근종，대차량적횡향은정성개선효과명현．
As an important control variable,yaw rate plays a significant role in vehicle lateral stability in vehicle handling and stability control system.As one of the most common control methods,PID is easy to be implemented in engineering application,but its engineering application is limited for pa-rameters tuning.Based on radial basis function theory,taking the amplitude of front wheel steer-ing angle and the parameters of PID controller as the inputs of surrogate model,and taking the key points of the vehicle yaw rate curve as the outputs of surrogate model,an ADAMS vehicle dynam-ic surrogate model integrated with PID controller is constructed.This method can not only avoid considering the time state factors of surrogate model,but also can optimize PID controller parame-ters quickly.Through numerical simulation verification,the surrogate model constructed with this method is high accurate and the adj usted PID controller can realize accurate tracking of vehicle yaw rate on expected yaw rate,which has an obvious effect on vehicle lateral stability improvement.