基于多目标PID的拖挂式房车差动制动控制系统设计

徐兴1; 2; 糜杰1; 王峰1; 2; 马世典1; 2; 陶涛3

doi:10.3969/j.issn.1671-7775.2020.02.009

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江苏大学学报（自然科学版） ›› 2020, Vol. 41 ›› Issue (2) : 172-180. DOI: 10.3969/j.issn.1671-7775.2020.02.009

论文

基于多目标PID的拖挂式房车差动制动控制系统设计

作者信息 +

Design of differential braking control system of travel trailer based on multi-objective PID

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摘要

为了保证拖挂式房车制动时具有良好的横摆稳定性及行驶路径,提出以房车铰接角和横摆角速度为控制目标的差动制动控制方法.考虑电磁制动器机电耦合特性,建立了基于线性六自由度的牵引车房车转向制动力学模型;建立拖挂式房车稳态行驶时铰接角模型,引入多目标PID加权控制算法和多目标PID协调控制算法,应用差值制动控制横摆力矩的原理,使房车铰接角和横摆角速度准确跟随目标期望值,实现房车制动时具有良好的横摆稳定性及行驶路径.基于TruckSim与Simulink的联合,进行了脉冲、阶跃转向工况下的仿真试验.仿真结果表明,提出的加权控制和协调控制均能保证拖挂式房车在制动时具有良好的行驶路径及横摆稳定性;相比于无差动制动,这两者使房车相对横摆角减小约25％;相比于以横摆角速度为目标的差动制动,这两者使房车的行驶路径偏差减小约20％.

Abstract

To achieve good yaw stability and trajectory of travel trailer during braking, a differential braking control method was proposed to optimize the hinged angle and the yaw angular velocity performance for the travel trailer. Considering the electromechanical coupling characteristics of electromagnetic brake, a 6 DOF tractor-travel trailer braking model was established. The model of articulation angle of travel trailer in steady state was established, and the multi-objective PID weighted control algorithm and the multi-objective PID coordinated control algorithm were introduced. The principle of differential braking was applied to control the yaw moment and make the articulated angle and yaw velocity of travel trailer accurately follow the expected value of the target, and the good trajectory and yaw stability was achieved during the braking of travel trailer. Based on the co-simulation of TruckSim and Simulink, the simulation tests of step and pulse steering were carried out. The simulation results show that weighted control and coordinated control can guarantee the tractor trailer with good trajectory and yaw stability during braking. Compared with non-differential braking control, the two control algorithms can reduce the relative yaw rate of travel trailer by about 25％. Compared with the differential braking with yaw rate as control target, the trajectory deviation of travel trailer under the two control algorithms is reduced by about 20％.

关键词

拖挂式房车 / 差动制动 / 横摆角速度 / 铰接角 / 多目标PID / 加权控制 / 协调控制

Key words

travel trailer

/ differential braking / yaw rate / articulated angle / multi-objective PID /

weighted control

/ coordinated control

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徐兴1, 2, 糜杰1, 等. 基于多目标PID的拖挂式房车差动制动控制系统设计[J]. 江苏大学学报（自然科学版）, 2020, 41(2): 172-180 https://doi.org/10.3969/j.issn.1671-7775.2020.02.009

XU Xing1, 2, MI Jie1, et al. Design of differential braking control system of travel trailer based on multi-objective PID[J]. Journal of Jiangsu University(Natural Science Edition), 2020, 41(2): 172-180 https://doi.org/10.3969/j.issn.1671-7775.2020.02.009

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