非公路车辆转向系统的模糊PID控制
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摘要
电动液压助力转向系统是在液压动力转向系统的基础上发展起来的。与传统转向系统相比,具有节约能源,良好路感等优势。线控转向系统,由于取消了方向盘和转向轮之间的机械连接装置,彻底摆脱了传统转向系统所固有的弊端,便于和其他系统集成、统一协调控制。
本文对电动液压助力转向系统和线控转向系统的结构和工作原理进行分析,在了解智能控制方法的基础上,吸取国内外的先进思想,对电动液压助力转向系统进行改进,实现一种以液压为驱动力,线控的助力转向系统。
首先根据Ackerman理论转向特性,运用最小二乘法对转向梯形进行结构优化。然后利用Pro/Engineer建立转向系统的各个部分结构模型,进而建立转向系统的数学模型。在深入分析系统数学模型的基础上,利用MATLAB/Simulink对转向系统进行模糊PID仿真。用Pro/E建立双缸驱动的转向梯形模型,将三维模型导入到机械系统动力学仿真分析软件ADAMS中生成转向系统的虚拟样机,然后利用AMESIM与ADAMS对所设计转向系统进行联合仿真分析。
最后,根据实际条件搭建助力转向系统的性能测试平台,对不同系统压力、不同载荷的跟踪性能进行测试和分析。实验证实,本课题研究的助力转向系统理论的正确性和可行性,达到预计的实验目标。
Electro-hydraulic power steering system is developed on the basis of hydraulic power steering system. Compared with the traditional steering system with saving energy, good sense and so on. Steer-by-wire system, the abolition of the steering wheel and steering wheel of the mechanical connection between the devices. To rid of the traditional steering system of the disadvantages and other systems to facilitate integrated, unified and coordinated control.
In this paper,electro-hydraulic power steering system and steer-by-wire system, the structure and working principle of the analysis, in the understanding of intelligent control methods based on the lessons at home and abroad advanced ideas on the electro-hydraulic power steering system to improve and achieve a types of hydraulic-driven, electronically controlled power steering system.
First of all, according to Ackerman theoretical shift characteristics, the use of least-squares method for structural optimization of steering trapezoid. The use of Pro/Engineer to establish the various parts of steering system model, and the establishment of mathematical model of steering system. In-depth analysis of system mathematical model, based on the use of MATLAB/Simulink steering response curve of the fuzzy PID simulation. Using Pro/E model for the establishment of steering trapezoid double, three-dimensional model will be imported into the mechanical system dynamics simulation analysis software to generate steering system ADAMS virtual prototype, and then use ADAMS to AMESIM with the steering system is designed to conduct joint simulation analysis.
Finally, set up in accordance with the actual conditions of the power steering system performance testing platform, the pressure on the different systems, different load testing of the tracking and analysis. Experiments confirmed that the research power steering system of the correctness and feasibility of the theory and experiment is expected to meet the requirements.
本文对电动液压助力转向系统和线控转向系统的结构和工作原理进行分析,在了解智能控制方法的基础上,吸取国内外的先进思想,对电动液压助力转向系统进行改进,实现一种以液压为驱动力,线控的助力转向系统。
首先根据Ackerman理论转向特性,运用最小二乘法对转向梯形进行结构优化。然后利用Pro/Engineer建立转向系统的各个部分结构模型,进而建立转向系统的数学模型。在深入分析系统数学模型的基础上,利用MATLAB/Simulink对转向系统进行模糊PID仿真。用Pro/E建立双缸驱动的转向梯形模型,将三维模型导入到机械系统动力学仿真分析软件ADAMS中生成转向系统的虚拟样机,然后利用AMESIM与ADAMS对所设计转向系统进行联合仿真分析。
最后,根据实际条件搭建助力转向系统的性能测试平台,对不同系统压力、不同载荷的跟踪性能进行测试和分析。实验证实,本课题研究的助力转向系统理论的正确性和可行性,达到预计的实验目标。
Electro-hydraulic power steering system is developed on the basis of hydraulic power steering system. Compared with the traditional steering system with saving energy, good sense and so on. Steer-by-wire system, the abolition of the steering wheel and steering wheel of the mechanical connection between the devices. To rid of the traditional steering system of the disadvantages and other systems to facilitate integrated, unified and coordinated control.
In this paper,electro-hydraulic power steering system and steer-by-wire system, the structure and working principle of the analysis, in the understanding of intelligent control methods based on the lessons at home and abroad advanced ideas on the electro-hydraulic power steering system to improve and achieve a types of hydraulic-driven, electronically controlled power steering system.
First of all, according to Ackerman theoretical shift characteristics, the use of least-squares method for structural optimization of steering trapezoid. The use of Pro/Engineer to establish the various parts of steering system model, and the establishment of mathematical model of steering system. In-depth analysis of system mathematical model, based on the use of MATLAB/Simulink steering response curve of the fuzzy PID simulation. Using Pro/E model for the establishment of steering trapezoid double, three-dimensional model will be imported into the mechanical system dynamics simulation analysis software to generate steering system ADAMS virtual prototype, and then use ADAMS to AMESIM with the steering system is designed to conduct joint simulation analysis.
Finally, set up in accordance with the actual conditions of the power steering system performance testing platform, the pressure on the different systems, different load testing of the tracking and analysis. Experiments confirmed that the research power steering system of the correctness and feasibility of the theory and experiment is expected to meet the requirements.
引文
1李宏伟.电动液压助力转向系统数字化控制研究.[天津大学硕士学文论文].2006 1-2 2-3
2贾和平,钟绍华.汽车线控转向系统的技术探讨.北京汽车,2006,(5):42
3许阳坡.电动液压助力转向(EHPS)系统控制算法研究及实现.[天津大学硕士学文论文].2006:1-2
4包凡彪.汽车线控转向技术的发展与应用.汽车科技,2007,(2):11-12
5宗长富,刘凯.汽车线控驱动技术的发展.汽车技术,2006,(3):1-4
6许仰曾,刘忠华,张天福,等.液压转向器的电控与信息化发展趋势.流体传动与控制,2004,(3):1-3
7 Zhang, Q., Reid J. F., Wu D. Hardware-in-the-loop simulator of an off-road vehicle electrohydraulic steering system[J].Transactions of the ASAE,2000,43(6):1323-1330
8 Dong, Z., Q. Zhang and S. Han. Control an electrohydraulic steering system using a PID controller with a nonlinear compensation algorithm. Proceedings of SPIE - The International Society for Optical Engineering, 2002(4715):87-95
9 Qiu, H. and Q. Zhang.Feedforward-plus- proportional-integral-derivative controller for an off-road vehicle electrohydraulic steering system. Journal of Automobile Engineering, 2003, 217(5):375-382
10王望予.汽车设计.北京:机械工业出版社,2000:166 187-188
11 Y.Gao, Q.Zhang.A Comparison of three controllers for off-road vehicles. Proceedings of the 1-2 September International Conference, Bonn, Germany, 2006:289-301
12 Tong-Jin Park, Se-Wook Oh, Jae-Ho Jang.Park.The design of a controller for the steer-by-wire system using the hardware-in-the-loop-simulation system. Proceedings of the 2002 SAE Automotive Dynamics and Stability Conference and Exhibition, 2002:377-382
13黄小平,毛金明.平面梯形机构不能精确实现无侧滑转向的证明.农业机械学报,2003,24(6):47-49
14陈晓希,吕红明,王琪.整体式转向梯形机构的优化设计.设计与研究, 2007,34(3):35-37
15张宝生,李杰,林明芳.汽车优化设计理论与方法.北京:机械工业出版社,2000:118-119
16林宁.汽车设计.北京:机械工业出版社,1999:136-138
17刘仕平,赵晓慎.轮式车辆转向梯形优化方案的研究.机电产品开发与创新,2006,19(3):15-17
18郁录平,张志友.轮式行走机械转向梯形的优化设计.建筑机械,2003(2):36
19李菊梅,孔江生,高术振.工程问题曲线优化拟合的MATLAB解.中国工程机械学报,2004:272-273
20曲红.FD420型集装箱叉车转向机构优化设计.起重运输机械,2003(8):25-26
21应伟雄.叉车横置油缸转向桥中转向机构的设计原理.机械产品与科技,2005(1):13-14
22杨培元,朱福元.液压系统设计简明手册.北京:机械工业出版社,1998:10-42
23徐春林,陈云明.加工汽车左转向节臂的工装设计.工具技术, 2007,41(12):64
24邓春萍,杨慎华,何东野.汽车左转向节臂锻件复合锻造工艺及模具设计.锻造,2006:42
25 N. Lefebvre and S. Millemann, R. Lengelléand I. Nikiforov.A new approach for steering wheel angle prediction. SAE, 2003:1772-1777
26罗士军,张子达,胡敬波.工程车辆线控转向电液比例控制系统数字校正.机床与液压,2005(8):137-138,173
27许益民.电液比例控制系统分析与设计.北京:机械工业出版社,2002:227-231
28赵晓红.推土机单手柄转向制动控制系统研究.[吉林大学硕士学位论文].2004:14-16,33-35
29王红梅,司癸卯,焦生杰.工程机械四轮转向控制系统研究.工程机械,2005, 36(2):17-20
30汪星刚,盛步云,郑绍春.重型平板运输车转向系统协同控制技术的研究.机床与液压,2006(1):120-121,142
31鲁远栋. PLC机电控制系统应用设计技术.北京:电子工业出版社,2006:65-66
32卢斌,胡树根,来明.电动助力转向传感器的选型与安装结构设计.机械制造,2006,44(1):39-41
33蒋志龙.电磁式助力转向控制系统的研究与开发.[武汉理工大学硕士学位论文].2005:34 39-47
34陶永华.新型PID控制及其应用(第2版).北京:机械工业出版社,2002:1-7
35 Yun Li, Kiam Heong Ang, Gregory C. Y. Chong. PID control system Analysis and Design. IEEE control systems magazine, 2006,1:32–41
36刘金琨.先进PID控制及其MATLAB仿真.北京:电子工业工业出版社,2003:2–14
37王伟,张晶涛.PID参数先进整定方法综述.自动化学报,2000,26(3):347-355
38 K. J. ?str?m, T. H?gglund.Benchmark Systems for PID Control. Department of Automatic Control Lund University, Lund, Sweden,1998:520-529
39 ?str?m, K.J., H?gglund, T.,PID Control–Theory, Design and Tuning,Instrument Society of America, Research Triangle Park.NC, 2nd ed,1995:670-679
40 P. Cominos, N. Munro. PID conreollers: recent tuning methods and design to specification. IEE Proc.–Control Theory Appl., Vol. 149, No. 1, January 2002:46–53
41 J. G. Ziegler, N. B. Nichols.Optimum settings for automatic controllers. Trans. ASME, 1942,64:817–826
42朱金龙.分段模糊PID控制在电动助力转向装置性能试验台中的应用.[辽宁工学院硕士学位论文].2007:32 33-41
43刘永.汽车线控转向系统的研究. [武汉理工大学硕士学位论文].2005:33-40
44闻新,周露,李东江等.MATLAB模糊逻辑工具箱的分析与应用.北京:科学出版社,2001:111-127
45张国良,曾静,柯熙政,等.模糊控制及其MATLAB应用.西安:西安交通大学出版社,2002:69-79
46 Yingjie Gao, Runan Huang, Qin Zhang, John F. Reid. (2006). Design Methods for Three Types of Off-road Vehicle Steering Controllers.3rd IFAC International Workshop on Bio-Robotics, Sappro, Japan. 2006: 213-218
47 Li Huimin, Gao Yingjie, Gu Yanpeng, Yang Zhiyu, Dang Qi.(2007). Design of anElectro-hydraulic Steering System for Wheeled Hydraulic Excavator.Proceedings of The Fifth International Symposium on Fluid Power Transmission and Control (ISFP’07),2007:885-887
48周晖.基于MATLAB的PID参数整定.舰船电子对抗,2008,31(2):107-109
49祁文哲,王玉成.基于MATLAB的控制系统设计与仿真研究.2008(4):72-75
50胡刚华.全液压转向系统动静态性能分析.[同济大学工学硕士学位论文].2005:16-17,28-29
51陈立平,张云清,任卫群.机械系统动力学及ADAMS应用教程.北京:清华大学出版社,2005:104-108.
52李军.ADAMS实例教程.北京.北京理工大学出版社,2007:1-2.
53杨智炜.轴向柱塞泵虚拟样机仿真技术研究.[浙江大学工学硕士学位论文].2001:36-38
54李吉,李华聪.仿真软件AMESIM应用研究.航空计算技术,2006(1):56-58.
55付永领,祁晓野.AMESIM建模与仿真.北京:北京航空航天大学,2006:117-120
56 Bideaux,E;Scavarda,S.Pneumatic library for AMESIM.Fluid power system and technology,1998:185-195.
2贾和平,钟绍华.汽车线控转向系统的技术探讨.北京汽车,2006,(5):42
3许阳坡.电动液压助力转向(EHPS)系统控制算法研究及实现.[天津大学硕士学文论文].2006:1-2
4包凡彪.汽车线控转向技术的发展与应用.汽车科技,2007,(2):11-12
5宗长富,刘凯.汽车线控驱动技术的发展.汽车技术,2006,(3):1-4
6许仰曾,刘忠华,张天福,等.液压转向器的电控与信息化发展趋势.流体传动与控制,2004,(3):1-3
7 Zhang, Q., Reid J. F., Wu D. Hardware-in-the-loop simulator of an off-road vehicle electrohydraulic steering system[J].Transactions of the ASAE,2000,43(6):1323-1330
8 Dong, Z., Q. Zhang and S. Han. Control an electrohydraulic steering system using a PID controller with a nonlinear compensation algorithm. Proceedings of SPIE - The International Society for Optical Engineering, 2002(4715):87-95
9 Qiu, H. and Q. Zhang.Feedforward-plus- proportional-integral-derivative controller for an off-road vehicle electrohydraulic steering system. Journal of Automobile Engineering, 2003, 217(5):375-382
10王望予.汽车设计.北京:机械工业出版社,2000:166 187-188
11 Y.Gao, Q.Zhang.A Comparison of three controllers for off-road vehicles. Proceedings of the 1-2 September International Conference, Bonn, Germany, 2006:289-301
12 Tong-Jin Park, Se-Wook Oh, Jae-Ho Jang.Park.The design of a controller for the steer-by-wire system using the hardware-in-the-loop-simulation system. Proceedings of the 2002 SAE Automotive Dynamics and Stability Conference and Exhibition, 2002:377-382
13黄小平,毛金明.平面梯形机构不能精确实现无侧滑转向的证明.农业机械学报,2003,24(6):47-49
14陈晓希,吕红明,王琪.整体式转向梯形机构的优化设计.设计与研究, 2007,34(3):35-37
15张宝生,李杰,林明芳.汽车优化设计理论与方法.北京:机械工业出版社,2000:118-119
16林宁.汽车设计.北京:机械工业出版社,1999:136-138
17刘仕平,赵晓慎.轮式车辆转向梯形优化方案的研究.机电产品开发与创新,2006,19(3):15-17
18郁录平,张志友.轮式行走机械转向梯形的优化设计.建筑机械,2003(2):36
19李菊梅,孔江生,高术振.工程问题曲线优化拟合的MATLAB解.中国工程机械学报,2004:272-273
20曲红.FD420型集装箱叉车转向机构优化设计.起重运输机械,2003(8):25-26
21应伟雄.叉车横置油缸转向桥中转向机构的设计原理.机械产品与科技,2005(1):13-14
22杨培元,朱福元.液压系统设计简明手册.北京:机械工业出版社,1998:10-42
23徐春林,陈云明.加工汽车左转向节臂的工装设计.工具技术, 2007,41(12):64
24邓春萍,杨慎华,何东野.汽车左转向节臂锻件复合锻造工艺及模具设计.锻造,2006:42
25 N. Lefebvre and S. Millemann, R. Lengelléand I. Nikiforov.A new approach for steering wheel angle prediction. SAE, 2003:1772-1777
26罗士军,张子达,胡敬波.工程车辆线控转向电液比例控制系统数字校正.机床与液压,2005(8):137-138,173
27许益民.电液比例控制系统分析与设计.北京:机械工业出版社,2002:227-231
28赵晓红.推土机单手柄转向制动控制系统研究.[吉林大学硕士学位论文].2004:14-16,33-35
29王红梅,司癸卯,焦生杰.工程机械四轮转向控制系统研究.工程机械,2005, 36(2):17-20
30汪星刚,盛步云,郑绍春.重型平板运输车转向系统协同控制技术的研究.机床与液压,2006(1):120-121,142
31鲁远栋. PLC机电控制系统应用设计技术.北京:电子工业出版社,2006:65-66
32卢斌,胡树根,来明.电动助力转向传感器的选型与安装结构设计.机械制造,2006,44(1):39-41
33蒋志龙.电磁式助力转向控制系统的研究与开发.[武汉理工大学硕士学位论文].2005:34 39-47
34陶永华.新型PID控制及其应用(第2版).北京:机械工业出版社,2002:1-7
35 Yun Li, Kiam Heong Ang, Gregory C. Y. Chong. PID control system Analysis and Design. IEEE control systems magazine, 2006,1:32–41
36刘金琨.先进PID控制及其MATLAB仿真.北京:电子工业工业出版社,2003:2–14
37王伟,张晶涛.PID参数先进整定方法综述.自动化学报,2000,26(3):347-355
38 K. J. ?str?m, T. H?gglund.Benchmark Systems for PID Control. Department of Automatic Control Lund University, Lund, Sweden,1998:520-529
39 ?str?m, K.J., H?gglund, T.,PID Control–Theory, Design and Tuning,Instrument Society of America, Research Triangle Park.NC, 2nd ed,1995:670-679
40 P. Cominos, N. Munro. PID conreollers: recent tuning methods and design to specification. IEE Proc.–Control Theory Appl., Vol. 149, No. 1, January 2002:46–53
41 J. G. Ziegler, N. B. Nichols.Optimum settings for automatic controllers. Trans. ASME, 1942,64:817–826
42朱金龙.分段模糊PID控制在电动助力转向装置性能试验台中的应用.[辽宁工学院硕士学位论文].2007:32 33-41
43刘永.汽车线控转向系统的研究. [武汉理工大学硕士学位论文].2005:33-40
44闻新,周露,李东江等.MATLAB模糊逻辑工具箱的分析与应用.北京:科学出版社,2001:111-127
45张国良,曾静,柯熙政,等.模糊控制及其MATLAB应用.西安:西安交通大学出版社,2002:69-79
46 Yingjie Gao, Runan Huang, Qin Zhang, John F. Reid. (2006). Design Methods for Three Types of Off-road Vehicle Steering Controllers.3rd IFAC International Workshop on Bio-Robotics, Sappro, Japan. 2006: 213-218
47 Li Huimin, Gao Yingjie, Gu Yanpeng, Yang Zhiyu, Dang Qi.(2007). Design of anElectro-hydraulic Steering System for Wheeled Hydraulic Excavator.Proceedings of The Fifth International Symposium on Fluid Power Transmission and Control (ISFP’07),2007:885-887
48周晖.基于MATLAB的PID参数整定.舰船电子对抗,2008,31(2):107-109
49祁文哲,王玉成.基于MATLAB的控制系统设计与仿真研究.2008(4):72-75
50胡刚华.全液压转向系统动静态性能分析.[同济大学工学硕士学位论文].2005:16-17,28-29
51陈立平,张云清,任卫群.机械系统动力学及ADAMS应用教程.北京:清华大学出版社,2005:104-108.
52李军.ADAMS实例教程.北京.北京理工大学出版社,2007:1-2.
53杨智炜.轴向柱塞泵虚拟样机仿真技术研究.[浙江大学工学硕士学位论文].2001:36-38
54李吉,李华聪.仿真软件AMESIM应用研究.航空计算技术,2006(1):56-58.
55付永领,祁晓野.AMESIM建模与仿真.北京:北京航空航天大学,2006:117-120
56 Bideaux,E;Scavarda,S.Pneumatic library for AMESIM.Fluid power system and technology,1998:185-195.