基于分数阶PID理论的汽车线控转向的主动控制
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摘要
为实现更好的车辆稳定性,提出一种基于分数阶比例积分微分(PID)理论的线控转向(SBW)主动控制方法。建立了SBW系统Simulink动力学模型,设计了定横摆角速度增益的理想变传动比曲线;基于横摆角速度反馈的状态跟踪校正控制策略,提出该算法;利用Oustaloup滤波器和粒子群优化算法,进行了有理化和参数整定处理。在高速双移线和鱼钩工况下,进行了离线Carsim/Simulink联合仿真分析。结果表明:相比于传统PID控制和模糊控制,该控制方法的横摆角速度降低了4.7%和9%,侧向加速度降低了6.3%和7.7%,质心侧偏角降低了9.8%和19.5%;因而,该控制器具有较好的SBW主动控制性能。
An active control method of steering-by-wire(SBW) was proposed based on a fractional-order proportional-integral-differential(PID) theory to have a better vehicle running stability. The authors stablished a Simulink dynamic model of the SBW system, and designed a control strategy of state-tracking-correction with yaw-rate-feedback using an ideal variable transmission ratio curve with constant yaw rate gain. Some rationalization and parameter tuning were processed out by using an Oustaloup filter and a particle swarm optimization algorithm. The automobile SBW with a fractional-order PID controller was analyzed by an off-line simulation using a Carsim/Simulink joint simulation under the conditions of high-speed double-shift line and the conditions of fish hook. The results show that the fractional order PID controller reduces the yaw angular velocity by 4.7% and 9%, reduces the lateral acceleration by 6.3% and 7.7%, and reduces the sideslip angle of center of mass by 9.8% and 19.5%, compared with the traditional PID control and with the fuzzy control. Therefore, the controller has better SBW active control performance.
An active control method of steering-by-wire(SBW) was proposed based on a fractional-order proportional-integral-differential(PID) theory to have a better vehicle running stability. The authors stablished a Simulink dynamic model of the SBW system, and designed a control strategy of state-tracking-correction with yaw-rate-feedback using an ideal variable transmission ratio curve with constant yaw rate gain. Some rationalization and parameter tuning were processed out by using an Oustaloup filter and a particle swarm optimization algorithm. The automobile SBW with a fractional-order PID controller was analyzed by an off-line simulation using a Carsim/Simulink joint simulation under the conditions of high-speed double-shift line and the conditions of fish hook. The results show that the fractional order PID controller reduces the yaw angular velocity by 4.7% and 9%, reduces the lateral acceleration by 6.3% and 7.7%, and reduces the sideslip angle of center of mass by 9.8% and 19.5%, compared with the traditional PID control and with the fuzzy control. Therefore, the controller has better SBW active control performance.
引文
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[15]郭伟,韩丹丹,徐金成,等.基于粒子群优化的分数阶PID预测函数参数整定[J].控制工程,2014,21(1):70-73.GUO Wei,HAN Dandan,XU Jincheng,et al,Fractional order PID predictive functional control parameter tuning based on particle swarm optimization[J].Control Engng Chin,2014,21(1):70-73.(in Chinese)
[2]章仁燮,熊璐,余卓平.智能汽车转向轮转角主动控制[J]机械工程学报,2017,53(14):106-113.ZHANG Renxie,XIONG Lu,YU Zhuoping.Active steering angle control for intelligent vehicle[J].J Mech Engng,2017,53(14):106-113.(in Chinese)
[3]宗长富,韩衍东,何磊,等.汽车线控转向变角传动比特性研究[J].中国公路学报,2015,28(9):115-120.ZONG Changfu,HAN Yandong,HE Lei,et al.Research on variable angle transmission ratio characteristics for automobile with SBW[J].Chin J Highway Transport,2015,28(9):115-120.(in Chinese)
[4]周兵,范璐,吕绪宁.主动前轮转向系统改进型变传动比曲线设计[J].中国机械工程,2014,25(20):2813-2818.ZHOU Bing,FAN Lu,LV Xuning.Design of modified variable steering ratio curve for active front steering system[J].Chin Mech Engng,2014,25(20):2813-2818.(in Chinese)
[5]王春燕,崔滔文,赵万忠,等.基于理想传动比的主动前轮转向控制[J].农业工程学报,2015,31(4):85-90.WANG Chunyan,CUI Taowen,ZHAO Wanzhong,et al.Active front wheel steering control based on ideal transmission ratio[J].Trans Chin Soc Agricultural Engng(Trans CSAE),2015,31(4):85-90.(in Chinese)
[6]Jalali K,Uchida T,Mcphee J,et al.Development of an advanced fuzzy active steering controller and a novel method to tune the fuzzy controller[J].SAE Int’l JPassenger Cars-Electronic and Electrical Syst,2013,6(1):241-254.
[7]Manhtuan D,MAN Zhihong,ZHANG Cishen,et al.Robust sliding mode learning control for uncertain discrete-time multi-input multi-output systems[J].IETContr Theory and Appl,2014,8(12):1045-1053.
[8]王金湘,代蒙蒙,陈南.考虑参数不确定性的汽车前轮主动转向输出反馈鲁棒控制[J].东南大学学报:自然科学版,2016,46(3):476-482.WANG Jinxiang,DAI Mengmeng,CHEN Nan.Robust output feedback control for vehicle active front wheel steering system considering parameter uncertainties[J].J Southeast Univ:Nat Sci Ed,2016,46(3):476-482.(in Chinese)
[9]郑宏宇,李君,宗长富,等.线控转向汽车横摆角速度增益优化设计[J].吉林大学学报:工学版,2012,42(1):7-12ZHENG Hongyu,LI Jun,ZONG Changfu,et al.Optimization design of vehicle yaw rate gain for steer-bywire[J].J Jilin Univ:Engng and Tech Ed,2012,42(1):7-12.(in Chinese)
[10]周兵,范璐,骆晨.主动前轮转向变传动比曲线分析与设计[J].湖南大学学报:自然科学版,2014,41(2):73-78.ZHOU Bing,FAN Lu,LUO Chen.Analysis and design of the variable steering ratio curve of Active front steering system[J],J Hunan Univ:Nat Sci,2014,41(2):73-78.(in Chinese)
[11]SONG Jeonghoon.Design and evaluation of active front wheel steering system model and controller[J].SAE Int’l J Passenger Cars-Mech Syst,2014.7(1):367-374.
[12]Podlubny I.Fractional-order systems and PIλDμcontrollers[J].IEEE Transa Automatic Control,1999,44(1):208-214.
[13]赵春娜,李英顺,陆涛.分数阶系统分析与设计[M].北京:国防工业出版社,2011:17-21.ZHAO Chunna,LI Yingshun,LU Tao.Analysis and Design of Fractional Order Systems[M].Beijing:National Defense Industry Press,2011:17-21.(in Chinese)
[14]Oustaloup A,Levron F,Mathieu B,et al.Frequencyband complex noninteger differentiator:characterization and synthesis[J].IEEE Trans Circuits and Syst I:Fund Theory Appl,2000,47(1):25-39.
[15]郭伟,韩丹丹,徐金成,等.基于粒子群优化的分数阶PID预测函数参数整定[J].控制工程,2014,21(1):70-73.GUO Wei,HAN Dandan,XU Jincheng,et al,Fractional order PID predictive functional control parameter tuning based on particle swarm optimization[J].Control Engng Chin,2014,21(1):70-73.(in Chinese)