摘要
在Matlab/Simulink中建立一种两轮的汽车动力模型,以自适应模糊PID和道路识别控制器作为控制模块,通过在高低附着路面和高低附着对接路面进行紧急制动仿真的研究。仿真结果表明道路识别控制器能够快速准确的识别路面不同附着路面最优滑移率,自适应模糊PID控制的ABS相于常规制动性能有了很大程度的提高,具有在线自整定参数的特点,具有很好的稳定性、适应性和鲁棒性。
This papers introduce a two wheeled vehicle is modeled byMatlab/Simulink,presents use adaptive fuzzy PID and road recognition as controller,by conducting simulation research that emergency brake in high and low adhesion roads also opposite roads.Results of simulation proved that the road recognition controller designed in this paper can recognize optimal slip rate of the different adhesion roads rapidly and accurately.ABS based on adaptive fuzzy PID control braking efficiency has greatly improved than general braking control system,also which could tune PID parameters online is designed and have a good stability,adaptability and robustness.
作者
贾浩楠
姚景轩
Jia Haonan;Yao Jingxuan(School of Automobile,Chang'an University,Shaanxi Xi'an 710064)
出处
《汽车实用技术》
2020年第3期147-151,共5页
Automobile Applied Technology
关键词
模糊控制
防抱死系统
二轮车辆模型
道路识别
Fuzzy-PID
Anti-lock braking system
Two wheeled vehicle model
Road recognition
