车辆四轮转向控制平台研究

针对机-电-液复合结构的四轮转向平台具有非线性、快时变的特点，提出了模糊自适应PID控制策略。将模糊自适应补偿器与PID控制器并联，提高系统的鲁棒性和抗干扰能力。使用PID控制器稳定系统的线性标称部分，应用模糊自适应补偿器调节PID参数来补偿系统参数摄动、非线性和外界扰动对系统控制性能的影响。仿真和外加扰动实验结果验证了提出的控制策略对四轮转向平台的控制具有快速性、准确性、稳定性和鲁棒性。

Study on the Control Platform of Four Wheel Steering

A fuzzy adaptive PID controller was proposed to be used in a four wheel steering platform. Which was constructed by mechanic-electric-hydraulic assembly. Considering the nonlinear and time-varying uncertainty of the platform, the controller was composed of a PID controller and a fuzzy adaptive compensator. The PID controller was designed to stabilize the normal system of the platform and the fuzzy adaptive compensator was applied to attenuate the parameter perturbation and the outside disturbance of the platform. The simulated and experimental results show that the proposed scheme can guarantee both the control performance and the robustness of the platform.