模糊PID变结构自适应算法在无人车转向电机矢量控制中的应用
Application of fuzzy PID variable structure adaptive algorithm in steering motor vector control of unmanned vehicles
李建市 1潘世举 1娄静涛 1李永乐 1徐友春1
作者信息
- 1. 陆军军事交通学院 军事交通运输研究所,天津300161
- 折叠
摘要
针对无人车线控转向系统电机矢量控制问题,提出一种模糊PID变结构自适应控制算法.依据电机模型推导出滑模变结构控制的趋近律和控制律,为避免控制器设计过程中对系统参数的依赖,采用PID控制器替换滑模变结构控制中的等效控制量.使用模糊方法分别对PID控制器的参数和趋近律参数进行动态调整,使其具备自适应能力以及降低或消除系统状态接近滑模面时的"抖振"现象.利用李雅普诺夫理论证明了本文方法的全局稳定性.仿真实验结果表明,无论系统在阶跃响应还是正弦响应工况下,模糊PID变结构自适应控制方法在系统响应速度和对负载波动的抑制方面都明显优于模糊PID方法和传统的滑模变结构方法.
Abstract
Aiming at the motor vector control problem of the steer-by-wire steering system of unmanned vehicle,a fuzzy PID variable structure adaptive algorithm was proposed. According to the motor model,the proximity law and control law of sliding mode variable structure control were derived,and in order to avoid the dependence on system parameters in the process of controller design,a PID controller was used to replace the equivalent control variables in sliding mode variable structure control. The parameters of the PID controller and the proximity law parameters were dynamically adjusted using the fuzzy method to make it adaptive to reduce or eliminate the"jitter" phenomenon when the system state is close to the slid-ing mode surface. The global stability of the method was proved by using Lyapunov's theory. Simulation experiments show that the fuzzy PID variable structure adaptive control method is significantly better than the fuzzy PID method and the traditional sliding mode variable structure method in terms of system re-sponse speed and suppression of load fluctuations,regardless of whether the system is in step response or sinusoidal response.
关键词
无人车/线控转向/永磁同步电机/模糊推理/滑模控制/矢量控制Key words
unmanned vehicle/steer-by-wire/permanent magnet synchronous motor/fuzzy reasoning/sliding mode control/vector control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据