基于多级鲁棒PID控制的汽车稳定性控制策略  

Multilevel robust PID control strategy for vehicle stability control

作　　者：玄圣夷[1] 宋传学[1] 靳立强[1] 李建华[1] 林叶[1] 

机构地区：[1]吉林大学汽车动态模拟国家重点实验室,长春130022

出　　处：《吉林大学学报（工学版）》2010年第1期13-18,共6页Journal of Jilin University:Engineering and Technology Edition

基　　金：吉林省科技发展计划项目(2004033222);吉林大学'985工程'研究生创新基金项目(20080204)

摘　　要：利用AMESim软件搭建了整车和液压制动系统模型。将基于H∞控制理论的PID控制算法应用于汽车稳定性控制的研究。根据车辆行驶状态的变化调整鲁棒PID控制器的参数,构建以横摆角速度和质心侧偏角为控制目标的汽车稳定性控制算法。进而利用PID控制算法得出制动轮缸压力,实现了整车的稳定性控制。利用Matlab/Simulink和AMESim建立联合仿真平台,对控制算法进行验证。结果表明,该控制算法具有很好的实时性和控制效果,能够满足车辆稳定性控制的要求。A model was built for the vehicle and its hydraulic brake system using the AMESim software. A PID control algorithm based on the H∞ control theory was used in study of the vehicle stability control. The parameters of the robust PID controller were adjusted according to the vehicle driving state, taking the yaw rate and the mass center sideslip angle as the control targets, an algorithm for the vehicle stability control was developed. Using the PID control algorithm, the brake pressure in the wheel cylinder was calculated, and the vehicle stability control was realized. A combined simulation platform was set up using softwares Matlab/Simulink and AMESim which was a a pp bil Key ied to verify the proposed algorithm. The results show that the algorithm has good real-time ty and control effect, can satisfy the request of vehicle stability control.

关 键 词：车辆工程 稳定性控制 鲁棒PID 联合仿真 

分 类 号：U461.91[机械工程—车辆工程]