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車輛電動(dòng)轉(zhuǎn)向系統(tǒng)的卡爾曼濾波模糊PID控制
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    摘要:

    通過對(duì)車輛動(dòng)力轉(zhuǎn)向系統(tǒng)的動(dòng)力學(xué)分析，建立了動(dòng)態(tài)數(shù)學(xué)模型。為了克服單獨(dú)使用PID控制和模糊控制時(shí)的問題，提高控制系統(tǒng)的響應(yīng)速度，減小超調(diào)量，減小穩(wěn)態(tài)誤差，設(shè)計(jì)了模糊控制和PID控制相結(jié)合的多模態(tài)控制器，實(shí)現(xiàn)了分段控制；并由卡爾曼濾波對(duì)控制信號(hào)進(jìn)行濾波處理，減小路面隨機(jī)干擾和傳感器測量噪聲的影響，從而進(jìn)一步提高了控制效果。仿真和試驗(yàn)結(jié)果表明，該控制方法能夠明顯改善控制性能。

    Abstract:

    Based on analyzing the dynamics of vehicle EPS, a dynamical mathematical model is established. To overcome the problems when using fuzzy controller or PID controller respectively, to increase the responsing speed, decrease the over adjustment and reduce the stability tolerance, a fuzzy-PID multi-mode controller is designed to control the system, the system is controlled with fuzzy controller or PID controller according to the range of tolerance. In order to weaken the effect of road random disturbance and sensor measure noise and make the control effect better, the control signals are filtered with Kalman filter. The results of simulation and experiment show that the performance of control becomes better by using this designment.

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劉俊,陳無畏.車輛電動(dòng)轉(zhuǎn)向系統(tǒng)的卡爾曼濾波模糊PID控制[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2007,38(9):1-5.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(9):1-5.

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