基于模糊与PID的车辆底盘集成控制系统

建立了车辆七自由度动力模型,基于模糊和PID设计了车辆底盘集成控制器的顶层控制器,在底层,用PI方法来控制线控转向系统;用二次规划法对主动横摆力矩进行了分配,并针对单移线转向行驶工况进行了仿真验证,结果表明,所设计的底盘集成控制器具有良好的控制效果,能够明显的改善车辆的操纵稳定性;开发的分层控制算法能够充分利用各个执行机构,使得在主动转向角和主动制动压力等输入都较小的情况下,获得较好车辆操纵稳定性。

Vehicle chassis integrated control system based on fuzzy and PID

Vehicle seven degrees of freedom dynamic model was established,based on the fuzzy and PID the top controller of vehicle chassis integrated controller was designed,using PI method to control steering by wire system;using quadratic programming method for active yaw moment assigned and in the single lane steering typical condition was simulated,the results show that the design of the chassis integrated controller has good control effect,it can obviously improve the vehicle steering stability.The development of hierarchical control algorithm can make full use of various actuators,when the active steering Angle and active braking pressure input is smaller,it can still obtain good handling stability of vehicles.