本文選題：爆胎 + 軌跡控制�。� 參考：《北京工業(yè)大學學報》2016年08期

【摘要】：為了解決高速公路爆胎車輛出現(xiàn)偏航的問題,進行了爆胎車輛軌跡控制的仿真研究.首先確定了爆胎車輛軌跡控制的評價指標,然后討論了靜態(tài)比例、積分、微分(proportion integration differentiation,PID)控制器對高速公路爆胎車輛軌跡的控制效果.由于在某一行駛車速下建立的靜態(tài)PID控制器不能很好地控制行駛在其他車速下的爆胎車輛,因此,采用了增益可變PID控制器處理爆胎車輛的軌跡控制問題,其中變增益PID控制器的參數(shù)是事先針對不同的爆胎車速標定獲得的.仿真實驗結(jié)果表明:變增益PID控制方案應用于爆胎車輛軌跡控制,可在保證車輛穩(wěn)定行駛的同時控制車輛的行駛軌跡,使其在出現(xiàn)較小的偏移后回到原路徑.
[Abstract]:In order to solve the yaw problem of tire-burst vehicle on highway, the simulation research on trajectory control of tire-burst vehicle was carried out. The evaluation index of vehicle trajectory control is determined, and the control effect of static proportion, integral and differential proportion integration differentiation controller on the track of tire burst vehicle is discussed. Because the static PID controller established at one speed can not control the tire burst vehicle running at other speed, the gain variable PID controller is used to deal with the trajectory control problem of the tire burst vehicle. The parameters of the variable gain PID controller are calibrated for different tire speed in advance. The simulation results show that the variable gain PID control scheme can be applied to the trajectory control of the tire burst vehicle, which can not only ensure the stable running of the vehicle, but also control the track of the vehicle, so that the vehicle can return to the original path after a small deviation.
【作者單位】： 吉林大學汽車仿真與控制國家重點實驗室;吉林大學通信工程學院;
【基金】：國家“973”計劃資助項目(2012CB821202) 國家自然科學基金資助項目(61573165);國家自然科學基金國際合作與交流重點項目(61520106008)
【分類號】：U461.6

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