The invention discloses an intelligent vehicle crosswind resistance control method based on fuzzy adaptive PID control, and the method comprises the steps: obtaining a target route of a vehicle when the vehicle meets crosswind interference during high-speed driving, wherein the current state of the vehicle is compared with the target route, and the yaw velocity and the side slip angle error of thevehicle are obtained; obtaining the error change rate of the yaw velocity and the side slip angle according to the yaw velocity and the side slip angle error of the vehicle; according to the error and the error change rate, based on a fuzzy self-adaptive PID controller, determining the control quantity of the vehicle wheel corner; and sending the wheel rotation angle control quantity to a steering motor controller so that the steering motor controller can apply steering torque to a steering column according to the wheel rotation angle target value to complete vehicle steering, and therefore the lateral force of tires is controlled. According to the invention, the fuzzy self-adaptive PID is adopted to control the vehicle when the vehicle is interfered by the crosswind, so that the vehiclehas a certain anti-interference capability on the crosswind, and the operation stability of vehicle driving is improved.
本发明公开了一种基于模糊自适应PID控制的智能车辆抗侧风控制方法,在车辆高速行驶遇侧风干扰时,获得车辆的目标路线;将车辆当前状态与目标路线进行对比,获得车辆的横摆角速度以及质心侧偏角误差;根据车辆的横摆角速度和质心侧偏角误差,获得横摆角速度和质心侧偏角的误差变化率;根据误差及误差变化率,基于模糊自适应PID控制器确定车辆车轮转角的控制量;将车轮转角控制量发送给转向电机控制器,以使转向电机控制器根据车轮转角目标值向转向柱施加转向力矩完成车辆转向,以此来控制轮胎的侧向力。本发明采用模糊自适应PID对车辆受到侧风干扰时进行控制,使得车辆对侧风有一定的抗干扰能力,提高车辆行驶的操纵稳定性。
Intelligent vehicle crosswind resistance control method based on fuzzy adaptive PID control
一种基于模糊自适应PID控制的智能车辆抗侧风控制方法
2020-04-14
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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