基于齐格勒—尼柯尔斯PID算法对车辆纵向行驶稳定性的研究  

Research on Longitudinal Driving Stability of Vehicle Based on Ziegler-nichols PID Algorithm

作　　者：敖翔 王黎明[1] 汪洋 韩力春 AO Xiang;WANG Liming;WANG Yang;HAN Lichun(Department of Electrical Engineering,Naval University of Engineering,Wuhan 430034,China)

机构地区：[1]海军工程大学电气工程学院,武汉430034

出　　处：《车辆与动力技术》2022年第4期21-26,37,共7页Vehicle & Power Technology

摘　　要：针对齐格勒—尼柯尔斯PID算法难以应用于车辆在多种路面下纵向行驶稳定性的问题,对车辆行驶路况进行研究,在标准路面下使用齐格勒—尼柯尔斯PID算法;在不平整的路面,需要在该算法基础之上适当降低k_(i)、k_(d)值,在一定范围内增加调节时间、减少过大的超调量以确保车辆运行的稳定性.此方案可使车辆能在多种路面下,较快设定出合理的PID参数,使其达到运行稳定.最后通过Matlab—simuilnk的仿真分析与实物模型搭建的实验平台,验证上述方案的可行性.To address the problem that the Ziegler-Nichols PID algorithm is difficult to apply to the vehicle longitudinal driving stability under a variety of road surfaces,the vehicle driving road conditions are studied.The Ziegler-Nichols PID algorithm is used under standard road surfaces.On uneven road surface,it is necessary to reduce the k_(i)and k_(d)values on the basis of the algorithm,increase the adjustment time and reduce the excessive overshoot within a certain range to ensure the stability of vehicle operation.The vehicle can be set up swiftly with reasonable PID parameters resulting in stable operation on a variety of road surfaces by this scheme.Finally,the feasibility of the above scheme is verified by the simulation analysis of Matlab-simulink and the experimental platform built by the physical model.

关 键 词：车辆稳定性 实物分析 不同路面 齐格勒—尼柯尔斯算法 仿真分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]