基于自适应模糊PID控制的某特种车ABS系统设计  

ABS system design for a special vehicle based on self-adapting fuzzy PID control

作　　者：符耀民 刘文瑜 FU Yaomin;LIU Wenyu(Zunyi Vocational and Technical College,Zunyi 560003,China;School of Mechanical Engineering,Guizhou University,Guiyang 550025,China)

机构地区：[1]遵义职业技术学院,贵州遵义560003 [2]贵州大学机械工程学院,贵州贵阳550025

出　　处：《贵州科学》2021年第2期91-97,共7页Guizhou Science

基　　金：贵州省科技支撑计划项目(黔科合支撑〔2016〕2319);汽车专业教学仪器设备研制团队(遵职科合〔2019〕)。

摘　　要：为解决某危险品运输车的制动效果问题,基于ABS控制方法理论,在前人的工作基础上设计了三种控制策略的ABS系统,并通过Matlab/Simulink平台搭建了该危险品运输车满载时的制动模型,同时把设计的自适应模糊PID控制制动模型与前人提出的制动模型进行对比;最后以系统响应时间、轮速和车速变化,滑移率的变化以及制动距离作为车辆制动效果的评价指标。研究结果表明:自适应模糊PID控制系统的响应时间最短为3 s,较Bang-Bang控制和PID控制的响应时间分别提前了0.7 s和0.6 s,其制动距离最短为35.3 m,较无ABS系统时的制动距离缩短了37.86%,说明设计的自适应模糊PID控制的ABS系统有效、有较快的响应速度和较好的鲁棒性。In order to solve the problem of braking effect of a dangerous goods transport vehicle,an ABS system with three control strategies was designed based on the theory of ABS control method and the previous work.By using the Matlab/Simulink platform,the braking model of the dangerous goods transport vehicle with full load was built.At the same time,the designed self-adapting fuzzy PID control braking model was compared with the braking model proposed by predecessors.Finally,the system response time,wheel speed and speed changes,slip rate changes and braking distance were used to evaluate the braking effect.The results showed that the response time of the self-adapting fuzzy PID control system was 3 s,which was 0.7 s and 0.6 s earlier than that of the Bang-Bang control and the PID control,respectively;the shortest braking distance of the self-adapting fuzzy PID control system was 35.3 m,which was 37.86%shorter than that without ABS system.In conclusion,the ABS system designed in this paper is effective,and has fast response speed and good robustness.

关 键 词：危险品运输车 ABS系统 制动模型 自适应模糊PID控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]