爆胎车辆轨迹控制的仿真.pdfVIP

第42卷 第8期 北 京 工 业 大 学 学 报 Vol.42 No.8 2016年 8月 JOURNAL OF BEIJING UNIVERSITY OFTECHNOLOGY Aug. 2016 爆胎车辆轨迹控制的仿真 1,2 2 2 1,2 1,2 于树友 ,刘摇 洋 ,王摇 菲 ,陈摇 虹 ,郭洪艳 (1.吉林大学汽车仿真与控制国家重点实验室,长春摇 130025;2.吉林大学通信工程学院,长春摇 130025) 摘摇 要:为了解决高速公路爆胎车辆出现偏航的问题,进行了爆胎车辆轨迹控制的仿真研究. 首先确定了爆胎车 辆轨迹控制的评价指标,然后讨论了静态比例、积分、微分(proportion integration differentiation,PID)控制器对高速 公路爆胎车辆轨迹的控制效果. 由于在某一行驶车速下建立的静态 PID 控制器不能很好地控制行驶在其他车速 下的爆胎车辆,因此,采用了增益可变 PID 控制器处理爆胎车辆的轨迹控制问题,其中变增益 PID 控制器的参数 是事先针对不同的爆胎车速标定获得的. 仿真实验结果表明:变增益 PID 控制方案应用于爆胎车辆轨迹控制,可 在保证车辆稳定行驶的同时控制车辆的行驶轨迹,使其在出现较小的偏移后回到原路径. 关键词:爆胎;轨迹控制;车辆动力学仿真 中图分类号:TP273 文献标志码:A 文章编号:0254-0037(2016)08-1225-08 doi:10.11936/ bjutxb2015110016 Simulation of Trajectory Control of Vehicles During a Tire Blowout 1,2 2 2 1,2 1,2 YU Shuyou ,LIU Yang ,WANG Fei ,CHEN Hong ,GUO Hongyan (1.State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130025,China; 2.Department of Control Science and Engineering,Jilin University,Changchun 130025,China) Abstract:An experiment of trajectory control was carried out to deal with the derivation problem for vehicles during a tire blowout on the expressway. Firstly,the evaluation criteria of trajectory control for vehicles during the tire blowout were determined. Then,the trajectory control of the vehiclewith a static PID (proportion integration differentiation) controller on expressway was discussed. Because the static PID controller determined at a certain speed does not fit for other speeds, a gain scheduling PID controller was adopt