分数阶PID控制的四轮转向系统研究  

Research on Four-Wheel Steering System with Fractional PID Control

作　　者：任肖红 王琪[1] REN Xiao-hong;WANG Qi(College of Mechanical Engineering,Taiyuan University of Technology,Shanxi Taiyuan030024,China)

机构地区：[1]太原理工大学机械工程学院

出　　处：《机械设计与制造》2020年第2期134-137,共4页Machinery Design & Manufacture

摘　　要：为了提高四轮转向汽车的操纵稳定性,提出了一种基于分数阶PID横摆角控制策略。通过控制汽车实际横摆角速度与理想横摆角速度差值,优化汽车操作稳定性相关评价指标。分析了汽车四轮转向系统的动力学特性,利用MATLAB/Simulink建立了基于分数阶PID横摆角控制系统。通过对该系统进行数值仿真,获得了汽车操作稳定性各评价指标的响应曲线,将其与其他控制策略下的相应曲线及前轮转向系统的相应曲线进行对比,结果表明:采用分数阶PID横摆角控制策略,四轮转向汽车的质心侧偏角基本为零,横摆角速度与前轮转向汽车的横摆角速度基本一致,其操纵稳定性得到了提高。In order to improve the control stability of four wheel steering vehicle,a yaw angle control strategy based on fractional PID is proposed.Through the control of the difference between actual and ideal yaw speed,the relative evaluation index of vehicle operation stability is optimized.The dynamic characteristics of the four wheel steering system are analyzed,and a yaw angle control system based on fractional PID is established in MATLAB/Simulink software.System response curves of vehicle control stability evaluation indexes are obtained by numerical simulating.With responding curves comparison of other strategies controlled systems and the front wheel steering system,the result shows thatusing fractional order PID yawing Angle control strategy of the four-wheel steering vehicle,thesideslip angle is basically zero,and the angular velocity of the transverse Angle is basically consistent with that of the front wheel steering to the automobile,and its control stability is improved.

关 键 词：二自由度 四轮转向 分数阶 PID控制 操纵稳定性 

分 类 号：TH16[机械工程—机械制造及自动化] U461.1[机械工程—车辆工程]