基于多目标PID的重型汽车ESP控制系统研究

发布时间：2018-05-15 04:38

本文选题：重型汽车 + ESP　；参考：《石家庄铁道大学》2016年硕士论文

【摘要】：近年来我国汽车行业发展迅速,重载汽车数量快速增长,但是随之而来的道路交通事故也更加频繁。重型汽车具有质量大、车身长、重心高等特点,行驶过程中会遇到复杂工况,导致汽车发生侧滑、甩尾和侧翻等失稳现象。加装了ESP控制系统的车辆可以有效减少此种现象的发生,但是我国对ESP控制的研究还刚刚兴起,关键技术仍被国外垄断,ESP的安装率仍然较低。所以,进行重载汽车的ESP控制理论研究,对增强汽车工业市场竞争力和保障人民生命财产安全具有重要的现实意义。本文针对某型三轴重型汽车,在MATLAB/Simulink中建立了七自由度动力学模型和Dugoff非线性轮胎模型,在典型工况下验证了其正确性,并分析了初始车速、前轮转向角、路面附着系数和车辆载重量对重型汽车转弯稳定性的影响。然后以横摆角速度和质心侧偏角为控制变量,设计了两种ESP控制系统,多目标PID协调控制和多目标PID加权控制,通过仿真发现加权控制要优于协调控制。之后,采用多目标PID加权控制,以车速、横摆角速度、质心侧偏角和侧向加速度为评价指标,研究初始速度、前轮转角、路面附着系数、车辆载重量对控制效果的影响。另外,在ADAMS/Car中建立了重型汽车整车模型,包括前后悬架子系统,轮胎子系统、制动子系统、转向子系统、动力传动子系统、驾驶室子系统、货箱和车架子系统等,并和MATLAB中建立的数学模型进行对比仿真。基于ADAMS-MATLAB的联合仿真,设计了多目标PID协调控制和多目标PID加权控制系统,在阶跃工况和单移线工况下,得到了控制前后车速、侧向加速度、横摆角速度和质心侧偏角。结果表明:对于ADAMS整车模型,两种控制方法均能降低控制目标值,有效的提高重型汽车的行驶稳定性,且多目标PID加权控制效果更优。本文的研究工作不仅对重型汽车的ESP系统设计提供了可借鉴的控制策略,而且对进一步实现工程上的应用提供了理论分析基础。
[Abstract]:In recent years, the automobile industry in China has developed rapidly and the number of heavy-duty vehicles has increased rapidly, but the road traffic accidents have also become more frequent. Heavy vehicles have the characteristics of large mass, long body, high center of gravity and so on. During the driving process, they will encounter complex working conditions, which will lead to side slip, tail-flick and rollover. The vehicle equipped with ESP control system can effectively reduce the occurrence of this phenomenon, but the research on ESP control in our country is just rising, and the installation rate of the key technology is still low. Therefore, it is of great practical significance to study the ESP control theory of heavy-duty vehicles in order to enhance the market competitiveness of automobile industry and ensure the safety of people's lives and property. In this paper, a seven degree of freedom dynamics model and a Dugoff nonlinear tire model are established in MATLAB/Simulink for a certain type of three axle heavy duty vehicle. The correctness of the model is verified under typical working conditions, and the initial speed and the steering angle of front wheel are analyzed. The influence of road adhesion coefficient and vehicle load on turning stability of heavy duty vehicle. Then, two kinds of ESP control systems, multi-objective PID coordinated control and multi-objective PID weighted control, are designed with yaw velocity and centroid lateral deflection as control variables. The simulation results show that the weighted control is superior to the coordinated control. After that, multi-objective PID weighted control is used to study the effects of initial velocity, front wheel angle, road adhesion coefficient and vehicle load on the control effect, taking the speed, yaw velocity, lateral deflection angle and lateral acceleration as evaluation indexes. In addition, the whole vehicle model of heavy vehicle is established in ADAMS/Car, including front and rear suspension subsystem, tire subsystem, braking subsystem, steering subsystem, power transmission subsystem, cab subsystem, cargo box and frame subsystem, etc. And compared with the mathematical model established in MATLAB. Based on the joint simulation of ADAMS-MATLAB, a multi-objective PID coordinated control system and a multi-objective PID weighted control system are designed. The speed, lateral acceleration, yaw angular velocity and side deflection angle of mass center of mass are obtained under step and single moving line conditions. The results show that the two control methods can reduce the control target value and improve the driving stability of heavy duty vehicle effectively, and the multi-objective PID weighted control effect is better. The research work of this paper not only provides the reference control strategy for the ESP system design of the heavy duty vehicle, but also provides the theoretical analysis foundation for the further realization of the engineering application.
【学位授予单位】：石家庄铁道大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.6

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