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A Fuzzy PID Algorithm-Based Attitude Control Method of Suspension-Type Small Rail Vehicles

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Journal of Vibration Engineering & Technologies Aims and scope Submit manuscript

Abstract

A suspension-type small vehicle has the significant advantages of high efficiency, convenience and environmental protection due to its flexible scheduling and compact vehicle structure, but its narrow available space also limits ride comfort. Due to the influences of various factors, such as a large lateral force applied on the steering arm, a large centrifugal force and a large crosswind force, the guide wheel and track side may be subjected to a large impact, so that passengers’ ride comfort becomes worse. In this study, first, The swing mechanism of side force on suspension vehicle is analyzed, the theoretical model of vertical load reallocation between left and right wheels of vehicles under the lateral force on the steering arm, centrifugal force and crosswind load is established to analyze the influences of vertical load reallocation of left and right wheels on tire cornering stiffness and steady-state response. Then, based on the improved distributed double-bogie 8-hub motor driving mode, with the minimum displacement amount of the displacement sensor and the minimum roll angle of the vehicle as the optimization targets. The PID closed-loop control strategy is constructed by processing the data of guide wheel displacement sensor and vehicle gyroscope with Kalman filter to realize the closed-loop adaptive control of vehicle driving attitude. Then, the anti-interference ability of the classical PID control strategy is improved by introducing the fuzzy control into the PID control and the robustness of the system is improved by modifying the controller parameters in real time. Finally, the driving states of the vehicle are experimentally compared under three control modes: non-PID control, PID closed-loop control and fuzzy PID control. In addition, the ride comfort is evaluated to verify the control algorithm. The experimental results showed that the roll angle and lateral acceleration of the suspension-type small rail vehicle based on the fuzzy PID control system were significantly improved and the anti-interference ability and the stability of the vehicle were also largely enhanced. The study provides the basis for improving ride comfort of suspension-type small rail vehicles.

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Data availability

The data used to support the findings of this study are available from the corresponding author upon request.

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Funding

The research was supported by Jiangsu Tianle Intelligent Technology Co., Ltd. and the National Natural Science Foundation of China (Grant No. 51905010).

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Authors and Affiliations

  1. Beijing Engineering Research Center of Precision Measurement Technology and Instruments, Beijing University of Technology, No. 100, Pingleyuan, Chaoyang District, Beijing, 100124, China

    Pan Zhang, Huijun Yue, Zhaoyao Shi, Jiachun Lin & Zhinan Chen

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  1. Pan Zhang
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  2. Huijun Yue
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  3. Zhaoyao Shi
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  4. Jiachun Lin
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  5. Zhinan Chen
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Correspondence to Huijun Yue.

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Zhang, P., Yue, H., Shi, Z. et al. A Fuzzy PID Algorithm-Based Attitude Control Method of Suspension-Type Small Rail Vehicles. J. Vib. Eng. Technol. 10, 111–130 (2022). https://doi.org/10.1007/s42417-021-00367-x

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  • DOI: https://doi.org/10.1007/s42417-021-00367-x

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