基于模糊免疫PID的前轮线控转向系统控制策略  

Research on front wheel of steer by wire system based on fuzzy Immune PID

作　　者：曹庆梅[1] 谭光兴[1] 高远[1] 李珊[2] 

机构地区：[1]广西科技大学电气与信息工程学院,广西柳州545006 [2]广西科技大学鹿山学院汽车工程系,广西柳州545006

出　　处：《广西科技大学学报》2014年第1期88-93,共6页Journal of Guangxi University of Science and Technology

基　　金：广西自然科学基金项目(2010GXNSFA013126);广西重点实验室建设项目(13-051-38);2012年广西研究生教育创新计划项目(2012105940811 M01)资助

摘　　要：由于线控转向系统取消了方向盘与汽车转向轮之间的机械连接,从而使得转向盘与汽车前轮转角之间的理想传动比得以自由设计,为汽车转向进行主动控制提供了可能.本文在横摆角速度增益不变和理想传动比确定的基础上,建立线控转向系统的Carsim与Simulink联合仿真模型,提出了基于模糊免疫PID控制器对前轮转角的控制策略,研究给定车型的线控转向控制系统的控制效果,并与常用的PID控制方法相比较.仿真结果表明:相对于常用的PID控制策略,基于模糊免疫PID控制策略,可以使汽车在低速行驶时,较小的方向盘转角可以实现较大的方向盘转角变化,传动比较小,驾驶员转向更加轻便;在汽车高速行驶时则需要较大的方向盘转角来实现前轮转角变化,且此时传动比较大,防止汽车高速抖动,从而提高了汽车的操纵稳定性.In steer-by-wire system, the mechanical linkage between steering wheel and front wheel is cancelled, so the system makes the ideal transmission ratio between the steering wheel and the front wheel designed more freely and the vehicle to process initiative control possible. By keeping the transverse angular velocity gain and the ideal steering ratio invariant, this paper establishes a combined Carsim and Simulink simulation model, in which a control strategy based on Fuzzy Immune PID controller is put forward to control the front wheel steering angle, and to test the effect of the given vehicle＇s steer-by-wire system. Simulation results show that, compared with the commonly PID controller, the proposed algorithm can provide a smaller steering wheel angle to achieve a lager change of front wheel steering angle and a small transmission ratio at low speed, which makes the driver performs more lighter, and a lager steering wheel angle to achieve the change of the front wheel steering angle at high speed. It also shows that the proposed algorithm have the capability to prevent tremors effectively at high speed and to improve the stability of the vehicle operation.

关 键 词：传动比 线控转向系统 模糊PID控制器 模糊免疫PID控制 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]