汽车纵向动力学系统的模糊-PID控制

在对汽车纵向动力学控制系统进行分析的基础上，探讨了基于两车的车列纵向自动跟踪的控制问题，建立了二阶车间纵向相对距离控制模型，并设计了汽车发动机／制动器的逻辑切换规律。应用参数自整定模糊-P1D控制，对P1D的3个参数进行调节，控制被控车与导航车的车间纵向相对距离误差和纵向相对速度误差的变化范围，以实现汽车纵向控制。仿真结果表明，这种方法与模糊控制相比，减小了系统的超调量，增强了动态抗干扰能力，具有一定的鲁棒性，较好地解决了控制系统快速性和小超调之间的矛盾。作者简介：李以农，男，1961年生。重庆大学机械传动国家重点实验室教授、博士研究生导师。主要研究方向为汽车系统动力学控制、汽车主动安全性、振动控制等。发表论文70余篇。

Fuzzy-PID Control Method on Vehicle Longitudinal Dynamics System

Based on the analysis of vehicle longitudinal dynamics control system, the longitudinal control of track homing for platoon of two vehicles was discussed. A second-order-control model of the longitudinal relative distance between vehicle to vehicle was presented, and the logical switch ruler between the engine and the brake was designed. Then the parameter auto-adjusting fuzzy-PID control method was used by adiusting the three parameters of PID to control the varying errors for the longitudinal relative distance and relative velocity between the controlled vehicle and the navigation vehicle. The simulation results show that compared with fuzzy control, the parameter auto-adjusting fuzzy-PID control method decreases the overshoot, enhances the capacity of anti- dynamic disturbance, and has certain robustness. The contradictory between rapidity and small overshoot has been solved.