汽车牵引力控制系统的变参数自适应PID控制  

Adaptive PID Controller with Variable Parameters for Vehicle Traction Control System

作　　者：李亮[1] 康铭鑫[2] 宋健[1] 李红志[1] 韩宗奇[2] 杨财[1] 

机构地区：[1]清华大学汽车安全与节能国家重点实验室,北京100084 [2]燕山大学车辆与能源学院,秦皇岛066004

出　　处：《机械工程学报》2011年第12期92-98,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50905092);国家重点基础研究发展计划(973计划;2011CB711205)资助项目

摘　　要：合理的驱动轮滑转率控制是保证汽车具有良好急加速驱动性能和稳定性的前提。复杂路面条件下汽车牵引力控制系统对驱动轮滑转率的控制需要基于驾驶员加速驾驶意图判断结果,通过合理协调发动机转矩干预和主动制动来实现。由于驾驶意图和路面附着条件的改变引起汽车动力学参量以及实际控制系统边界条件的改变,使得传统的PID控制的应用受到限制,因而提出一种可变参数的自适应PID控制器,根据驱动轮实际滑转率与目标滑转率的偏差自适应的调整PID控制器中的整定参数值,从而改善PID控制的控制品质,使汽车在复杂路况和工况条件下均能实现良好的驱动轮滑转率控制。根据不同控制参数组合方式,系统可以在发动机转矩控制、主动制动控制以及两种执行器耦合作用等三种控制模式中切换,实现驱动轮滑转率控制的目标。仿真与实车道路试验验证了这一方法的有效性。Reasonable control of the driving slip ratio is a premise to guarantee that the vehicle has good acceleration performance and stability.Based on the judgment of the driver＇s acceleration intention,the driving slip ratio in the traction control system is mainly adjusted through controlling the engine torque output and the active brake pressure in the complicated road condition.Because of the time-varying of the drive＇s intention and the road condition,it causes the change of the vehicle dynamics parameters and control system boundary condition,so this limits the application of the traditional PID controller.Hence,here we present a variable parameter adaptive PID control to adjust the driving wheel slip ratio under complicated driving conditions.According to the deviation between the desired slip ratio and current value,the controller can change the PID parameters adaptively in order to improve the quality of the controller.Based on the different parameter compound mode,the system can make switching among the engine torque control,the active brake control and the two mode coupling control to achieve the control of the driving wheel slip rate.The simulation and the road test verify the effectiveness of the proposed method.

关 键 词：牵引力控制系统 驱动滑移 自适应控制 主动制动 转矩调节 

分 类 号：U270[机械工程—车辆工程]