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文中建立了车辆转向运动的简化模型,利用模糊控制策略,通过差动制动产生附加力矩来控制车辆的横摆运动,同时以车辆侧偏角和横摆角速度为反馈输入变量来校正消除系统误差,设计了车辆模糊控制系统,并对控制系统在不同车速下进行了仿真分析。仿真结果表明,施加控制的车辆与无控制的相比,横摆角速度与侧偏角的输出稳态值减小,超调量降低,改善了车辆的横向稳定性。特别在高速情况下,控制效果更加明显。
In this paper, a simplified model of vehicle steering motion is established. By using fuzzy control strategy, additional torque is generated by differential braking to control the vehicle’s yaw motion. At the same time, the system error is corrected by taking the vehicle slip angle and yaw rate as feedback input variables , Designed the vehicle fuzzy control system, and carried on the simulation analysis to the control system under different vehicle speeds. The simulation results show that compared with the controlless vehicle, the steady-state output of the yaw rate and slip angle is reduced and the overshoot is reduced, which improves the lateral stability of the vehicle. Especially at high speed, the control effect is more obvious.