PID Control for Yaw Rate of Vehicle Based on Surrogate Model
-
摘要: 横摆率是表征车辆横向稳定性的重要指标,是车辆操纵稳定性控制系统中的关键控制变量。PID控制作为最常用的控制方法之一,虽然PID控制易于实现,但参数整定的难题限制其工程应用。基于响应面理论,以前轮转向角幅值和PID控制参数为响应面输入,以车辆横摆率曲线的关键点为响应面输出,构建集成PID控制器的8自由度车辆动力学代理模型。该方法不仅可避免考虑代理模型的时间状态因素,而且能实现PID控制参数的快速整定。数值仿真结果表明:该方法建立的代理模型精度高,整定的PID控制器能实现车辆横摆率对期望横摆率的准确跟踪,有效改善车辆的横向稳定性。Abstract: Yaw rate is an important indicator to characterize vehicle lateral stability,so it becomes a key control variable in the vehicle handling and stability control system. On the other hand,PID is one of the most common control methods since it is easy to be implemented,but its engineering application is limited for parameter tuning.Based on the response surface theory,taking the amplitude of front wheel steering angle and the parameters of PID controller as the inputs of response surface,and taking the key points of the vehicle yaw rate curve as the outputs of response surface,an 8 degrees of freedom vehicle dynamics surrogate model is built in this paper integrated with PID controller. This method can not only avoid considering the time state factors of surrogate model,but also can optimize PID controller parameters quickly. Numerical simulations demonstrate that the surrogate model based on the presented method has high precision,and the vehicle yaw rate can track the desired yaw rate accurately recurred to the PID controller,by which the vehicle lateral stability is improved effectively.
-
Key words:
- angular velocity /
- automobiles /
- computer simulation /
- control /
- controllers
-
[1] Ziegler J G，Niehols N B. Optimum settings for automaticcontrollers [J]. Journal of Dynamic Systems，Measuremeat，and Control，1993，115(2B) [2] Dugoff H，Fancher P S，Segel L. An analysis of tiretraction properties and their influence on vehicle dynamicperformance[R]. SAE Technical Paper，1970，700377 [3] Kim C J，Jang J H，Oh S K，et al. Development of acontrol algorithm for a rack-actuating steer-by-wire systemusing road information feedback [J]. Journal ofAutomobile Engineering，2008，222(9):1559-1571 [4] Rajamani R. Vehicle dynamics and control[M]. Springer，Newyork，2006 [5] 史妍妍，孙志礼，闫明. 基于响应面法的隐式极限状态函数可靠性灵敏度分析方法[J]. 机械科学与技术，2009，28(5):648-651Shi Y Y，Sun Z L，Yan M. A method for reliabilitysensitivity analysis of implicit lirnit state flmction usingresponse surface method[J]. Mechanical Science andTechnology for Aerospace Engineering，2009，28(5):648-651 (in Chinese) [6] 蒙哥马利. 实验设计与分析[M]. 傅钰生，等译. 北京:人民邮电出版社，2009Montgomery D C. Design and analysis of experiments [M]. Fu Y S，et al Translator. Beijing:Posts & TelecomPress，2009 (in Chinese) [7] 邓乾旺，文文. 基于拉丁超立方抽样的薄板装配误差分析[J]. 中国机械工程，2012，23(8)，947-950Deng Q W，Wen W. Sheet metal assembly deviationanalysis based on latin hypercube sampling[J]. ChinaMechanical Engineering，2012，23 (8 )，947-950 (in Chinese) [8] Yang X，Wang Z，Peng W. Coordinated control of AFSand DYC for vehicle handling and stability based onoptimal guaranteed cost theory [J]. Vehicle SystemDynamics，2009，47(1):57-79 -
点击查看大图
计量
- 文章访问数: 181
- HTML全文浏览量: 22
- PDF下载量: 5
- 被引次数: 0
下载:
