摘要
车辆路上行驶系统是一个复杂的非线性系统,依据传统控制方法难以建立精确的驾驶员模型。在"单点预瞄最优曲率理论"的基础上,应用Matlab/Simulink仿真软件,对包括"稳态统一指数轮胎模型"在内的整车动力学系统,建立了模糊控制PID控制器,并能在线实时调整3个PID参数。仿真结果表明,所建立的驾驶员模糊控制器能很好地描述驾驶员的控制行为,并可将其研究成果推广到智能无人驾驶车辆上。
The vehicle road driving system is a complex nonlinear system, and it is difficult to establish an accurate driver model according to the traditional control method. Based on the theory of ＂ single-point preview optimal curvature＂ , a fuzzy control PID controller for vehicle dynamics system including ＂steady-state unified index tire model＂ is built by using the Mat- lab/Simulink simulation software in this paper, which could adjust three PID parameters in real-time online. The simulation results show that the established driver fuzzy controller can describe the controlling behavior of the driver, and the results of their research could be expanded to the intelligent unmanned vehicles.
出处
《机械研究与应用》
2017年第3期102-104,共3页
Mechanical Research & Application
基金
甘肃省自然科学基金项目:车辆四轮独立电驱动系统转矩分配层级结构控制研究(编号:1606RJZE204)
关键词
4WDEV
单点预瞄最优曲率
闭环仿真
4WDEV
single-point preview optimal curvature
closed loop simulation
