| 基于特殊PID控制的多轴汽车转向性能研究 |
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| 引用本文： | 李运洪、朱永强.基于特殊PID控制的多轴汽车转向性能研究[J].福建工程学院学报,2019,0(3):291-296. |
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| 作者姓名： | 李运洪、朱永强 |
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| 作者单位： | 山东省青岛理工大学机械与汽车工程学院 |
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| 摘 要： | 为解决多轴汽车转向过程中出现的性能问题，建立五轴全轮转向汽车模型，采用基于不完全微分PID控制算法来降低高频干扰。在ADAMS/View和Simulink联合仿真平台，对不同车速下进行固定D(转向中心到第一轴的距离)值(FixedDvalue，FD)和变化D值(ChangeableDvalue，CD)的仿真对比试验，验证控制系统动态地改变D能改善多轴汽车的操纵稳定性。仿真结果表明:在相同车速下(60km/h)，CD控制策略的横摆角速度超调量可降低8.38%，收敛时间缩短80%；同时CD控制策略的侧偏角随着速度升高更接近零值。因此CD控制策略的控制效果更好。
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| 关 键 词： | 多轴汽车 联合仿真 全轮转向 不完全微分PID控制 |
Simulation analysis of the steering performance of multi-axle vehicles based on special PID control |
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| LI Yunhong,ZHU Yongqiang.Simulation analysis of the steering performance of multi-axle vehicles based on special PID control[J].Journal of Fujian University of Technology,2019,0(3):291-296. |
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| Authors: | LI Yunhong ZHU Yongqiang |
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| Institution: | School of Mechanical and Automotive Engineering, Qingdao University of Technology |
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| Abstract: | In order to solve the performance problems in the steering process of multi-axle vehicles, a five-axle all-wheel steering vehicle model was established, which used an incomplete differential PID control algorithm to reduce high-frequency interference. A simulation comparison test of fixed D (FD) and changeable D value (CD) at different speeds was conducted on the ADAMS/View and Simulink co-simulation platform, to verify whether the steering stability of multi-axle vehicles improves if the control system dynamically changes D. Simulation results show that the yaw rate overshoot of the CD control strategy could be reduced by 8.38% and its convergence time could be shortened by 80% at the same speed (60 km/h). Meanwhile, the side angle of the CD control strategy was closer to zero value with the increase of speed. Therefore, the control effect of the CD control strategy is better. |
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| Keywords: | multi-axle vehicle co-simulation all-wheel steering incomplete differential PID control |
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