基于模糊PID算法的双侧电传动履带车辆转向控制策略研究

为了提高电传动履带车辆的转向控制性能,首先进行了履带车辆转向动力学分析,研究了履带车辆转向特性,进而针对履带车辆转向轨迹可控性差、动态响应慢等缺点,提出一种基于模糊PID算法的双侧电传动履带车辆转向控制策略,将驾驶员转向意图解释为内侧电机制动力矩,并通过模糊算法对外侧电机力矩进行跟随控制,实现稳定的转向轨迹并提高转向响应速度。转向过程中的纵向车速由PID算法进行控制,通过模糊因子来实现模糊控制算法与PID算法之间的融合。仿真结果表明,所提出的控制算法可以实现稳定可控的转向轨迹,具有良好的鲁棒性,与传统转向力矩分配策略相比,该控制算法的动态响应时间缩短约0.7s。

Research on Turning Control Strategy Based on Fuzzy-PID Algorithms for Dual Electric Tracked Vehicle

In order to improve the steering control performance of an electric tracked vehicle,the steering kinetic analysis was made at first and steering characteristics of tracked vehicle were researched. Then a turning control strategy based on fuzzy and PID algorithms was proposed for dual electric tracked vehicle to improve the turning trajectory control effect and enhance the steer dynamic response ability. Driver's steering intention was interpreted as inner motor braking torque while outside motor torque follow-up control was conducted by fuzzy strategy. Lengthways speed was adjusted by PID algorithm; the fuzzy control and PID algorithm were fused by fuzzy output factor. Simulation results indicate that algorithms presented can realize stable steering radius and response time can be shortened by about 0.7 seconds with this presented control strategy.