Research on Recovery Control of Wrecker Based on VAPID

Abstract

Abstract:

To realize the recovery automatically,research on the recovery control process of wrecker was approached.First,the recovery strategy was proposed,and the recovery model was built.Then,a hydraulic circuit
model of wrecker's recovery system was built in AMESim.Furthermore,the VAPID and the conventional PID controller were used to the recovery control respectively.Performances were analyzed in MATLAB/Simulink software.Simulation results show that the VAPID controller can accomplish the recovery automatically and stably with faster step response speed and less overshoot than that of the conventional PID controller.

Key words: recovery, PID controller with variable arguments(VAPID), wrecker, conventional PID controller

摘要：

为实现道路清障车的自动扶正,对其扶正控制过程进行了研究。首先，提出了扶正策略,建立了扶正模型。然后利用AMESim软件建立其液压系统模型，分别采用变参数PID(VAPID)与常规PID控制算法进行了扶正控制，并在MATLAB/Simulink环境对控制性能进行了仿真分析。仿真结果表明，相对于常规PID控制算法，VAPID控制算法使得系统的阶跃响应更快，基本无超调现象出现，可以实现事故车辆的自动平稳扶正。

关键词: 扶正, 变参数PID, 道路清障车, 常规PID

CLC Number:

U469.6

LV Cheng-Xu-1, 2, ZHANG Wei-Gong-1, LI Xu-1. Research on Recovery Control of Wrecker Based on VAPID[J]. China Mechanical Engineering, 2013, 24(10): 1399-1403.

吕成绪1, 2, 张为公1, 李旭1. 基于VAPID的道路清障车扶正控制研究[J]. 中国机械工程, 2013, 24(10): 1399-1403.

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