基于快速控制原型的汽车线控转向控制器研究
Research on Automotive Wire-controlled Steering Controller Based on Rapid Control Prototype
蒋明朝 1LIU Henke 2唐阳 1张鑫 1曾贵萍1
作者信息
- 1. 西南交通大学机械工程学院,四川成都 610036
- 2. 德国Ostfalia应用科学大学,德国沃分比特
- 折叠
摘要
为了提高线性转向控制系统控制性能以及控制系统的快速性、准确性、稳定性,基于快速控制原型技术搭建RCP测试平台,对比不同控制策略对线性转向系统控制性能的影响.通过建立执行电机的数学模型,依据其动态特性逐步设计优化PD控制器、串级三闭环PID控制器以及模糊PID控制器,分析3种控制器的阶跃响应性能.基于dSPACE设计搭建RCP快速原型控制测试平台,分别对控制器的跟随性能进行半实物仿真实验,对比分析控制器的性能优劣.半实物仿真实验结果表明:模糊PID控制策略在转角跟随性能控制中更为优异.
Abstract
In order to improve the control performance of linear steering control system with rapidity,accuracy and stability,this paper builds a RCP test platform based on the rapid control prototype technology,and compares the effects of different control strategies on the control performance of the linear steering system.With the establishment of the mathematical model of the executive motor,the PD controller,cascade three closed loop PID controller and fuzzy PID controller are gradually designed and optimized according to their dynamic characteristics,and the step response performance of the three controllers is analyzed.The RCP rapid prototype control test platform is built based on dSPACE design,the following performance of the controller is tested in semi-physical simulation and the performance advantages and disadvantages of the controller are compared and analyzed.The results show that the fuzzy PID control strategy is superior in the control of corner following performance.
关键词
汽车/线控转向/模糊PID/半实物仿真Key words
car/linear steering/fuzzy PID/semi-physical simulation引用本文复制引用
基金项目
四川省科技厅资助项目(2019YFH0045)
出版年
2024
国家科技期刊平台
NSTL
万方数据