基于模糊PID的分布式驱动改装车辆线控转向系统控制策略研究
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作者单位:

1.苏州大学 机电工程学院;2.常熟理工学院 汽车工程学院

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中图分类号:

U64

基金项目:

电机再生制动与液压制动防抱死耦合机理。江苏省自然科学基金(BK20151259)


Research on the Control Strategy of vehicle line-steering system based on Fuzzy PID
Author:
Affiliation:

1.School of Mechanical and Electrical,Soochow University,Jiangsu Suzhou,;2.School#$NBSof#$NBS Automotive#$NBSEngine,Changshu Institute of Technology,Jiangsu Changshu

Fund Project:

Mechanism of motor regenerative braking and hydraulic braking anti-lock coupling.Natural Science Foundation of Jiangsu Province (BK20151259)

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    摘要:

    传统电动车改装分布式驱动(4wid)后,车辆簧下质量增加,其转向阻尼和转向惯性增大,进而导致线控转向响应速度和精度变差。针对上述问题,以北汽EV150为例,介绍了一种线控转向控制器设计方案,并完成实车的改装和控制器的安装,旨在提高改装车辆的转向响应速度和精度的基础上,为原车提供线控转向能力。车辆改装后采用双电机助力、双控制器协调控制。以助力矩与阻力矩的差值作为控制器输入,采用模糊自适应PID控制器计算补偿力矩,旨在控制附加电机输出补偿转矩以抵消增大的转向阻力。基于CARSIM和MATLAB进行联合仿真,并进行实车试验,对比研究了普通PID控制和自适应模糊PID控制的响应速度和精度。仿真和试验结果表明:控制器可满足4WID车辆转向需求,且相比普通PID控制下的单电机线控转向系统,基于模糊PID控制的双电机转向系统响应更快,精度更高。

    Abstract:

    Once the traditional electric vehicle was refitted with distributed drive (4wid) system, the increasing of vehicle"s unsprung mass would significantly increase the steering resistance, as a result of that, the efficiency and accuracy of the original car"s steer-by-wire (SBW) system will be reduced. In order to solve this problem, taking BAIC-EV150 for example, this paper introduced a design of SBW controller for 4WID vehicles, and the corresponding refitting work of real vehicle were completed. The refitted vehicle adopted dual-motor , dual-controller to coordinate control. The difference value between the auxiliary torque and the resistance moment were token as the input of the controller. A fuzzy adaptive PID controller was used to calculate the compensation torque, aiming at controlling the additional motor output compensation torque to offset the increased steering resistance. Based on the joint simulation of CARSIM and MATLAB, the real vehicle test was carried out consequently, during which the response speed and precision of ordinary PID control and adaptive fuzzy PID control are compared. Simulation and experimental results show that the controller can meet the requirements of 4WID vehicle steering, and the dual-motor steering system based on fuzzy PID control is more responsive and more accurate than the single-motor steering system which under ordinary PID control.

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引用本文

王 耀,陈庆樟,高琳琳,等. 基于模糊PID的分布式驱动改装车辆线控转向系统控制策略研究[J]. 科学技术与工程, , ():

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  • 收稿日期:2020-09-29
  • 最后修改日期:2021-02-12
  • 录用日期:2021-02-16
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