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基于Carsim和Simulink设计了基于PID的横摆角速度控制策略,并对控制策略的效果进行了验证;建立了二自由度汽车动力学模型,提出将S-自适应卡尔曼滤波(S-AKF)算法用于汽车横摆角速度和质心侧偏角的估计;将S-AKF估计器与PID控制器相结合,构成完整的估计-控制闭环系统。通过Carsim中的操稳试验对整个系统的性能进行了仿真验证,结果显示,提出的估计-控制体系可在必要工况下实现对汽车的主动干预,提高汽车的路径跟踪能力和稳定性能。
Based on Carsim and Simulink, a PID-based yaw rate control strategy is designed and the effect of the control strategy is verified. A two-degree-of-freedom vehicle dynamics model is established. The S-adaptive Kalman filter (S-AKF) It is used in the estimation of vehicle yaw rate and center of mass side slip angle. The S-AKF estimator and PID controller are combined to form a complete estimation-control closed-loop system. The stability test of Carsim is used to verify the performance of the whole system. The results show that the proposed estimation-control system can take the initiative intervention of the vehicle under the necessary conditions and improve the path tracking ability and stability of the vehicle.