四轮转向系统模糊PID控制研究  

Research on Fuzzy-PID Control of Four-Wheel Steering System

作　　者：王欲进 谢纯禄 范英 晋民杰 WANG Yu-jin;XIE Chun-lu;FAN Ying;JIN Min-jie(Department of Mechanical and Electrical Engineering,Taiyuan University,Shanxi Taiyuan 030032,China;Transport Engineering Branch,China Railway No.3 Engineering Group,Shanxi Jinzhong 030600,China;School of Transportation and Logistics,Taiyuan University of Science and Technology,Shanxi Taiyuan 030024,China)

机构地区：[1]太原学院机械与电气工程系,山西太原030032 [2]中铁三局运输工程分公司,山西晋中030600 [3]太原科技大学交通与物流学院,山西太原030024

出　　处：《机械设计与制造》2020年第12期119-123,共5页Machinery Design & Manufacture

基　　金：山西省重点研发计划项目(201803D31076、201803D121123)。

摘　　要：针对四轮转向汽车传统线性控制策略的局限性以及控制效果和稳定性差的缺点,在四轮转向系统二自由度模型基础上考虑车身的侧倾和轮胎的非线性特性,建立4WS三自由度非线性模型。在此基础上,利用模糊理论结合PID控制策略设计模糊PID控制器,并在角阶跃输入条件下,与传统的前轮转向汽车和比例控制下的四轮转向汽车进行了操纵稳定性仿真对比分析。仿真结果表明:模糊PID控制器很好的弥补了线性控制器的缺点,提高了汽车的操纵稳定性和行驶安全性。Aiming at the limitation of traditional linear control strategy of four-wheel steering vehicle and the disadvantage of poor control effect and stability,based on the two-degree-of-freedom model of four-wheel steering system,considering the non-linear characteristics of body roll and tire,a 4 WS three-degree-of-freedom non-linear model is established.On this basis,the fuzzy-PID controller is designed by combining the fuzzy theory with the PID control strategy.Under the condition of angular step input,the control stability of the vehicle is simulated and compared with that of the traditional front-wheel steering vehicle and the four-wheel steering vehicle under proportional control.The simulation results show that the fuzzy PID controller can make up for the shortcomings of the linear controller and improve the handling stability and driving safety of the vehicle.

关 键 词：四轮转向 三自由度非线性模型 模糊PID控制 操纵稳定性 

分 类 号：TH16[机械工程—机械制造及自动化] U461.6[机械工程—车辆工程]