[1]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,2019,17(03):291-296.[doi:10.3969/j.issn.1672-4348.2019.03.015]
　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,2019,17(03):291-296.[doi:10.3969/j.issn.1672-4348.2019.03.015]
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基于特殊PID控制的多轴汽车转向性能研究()
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《福建工程学院学报》[ISSN:2097-3853/CN:35-1351/Z]

卷:
第17卷
期数:
2019年03期
页码:
291-296
栏目:
出版日期:
2019-06-25

文章信息/Info

Title:
Simulation analysis of the steering performance of multi-axle vehicles based on special PID control
作者:
李运洪、朱永强
山东省青岛理工大学机械与汽车工程学院
Author(s):
LI Yunhong; ZHU Yongqiang
School of Mechanical and Automotive Engineering, Qingdao University of Technology
关键词:
多轴汽车; 联合仿真; 全轮转向; 不完全微分PID控制
Keywords:
multi-axle vehicle;  co-simulation;  all-wheel steering;  incomplete differential PID control
分类号:
TH16；U463.42
DOI:
10.3969/j.issn.1672-4348.2019.03.015
文献标志码:
A
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。
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.

参考文献/References:

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更新日期/Last Update: 2019-06-25