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2010 Second WRI Global Congress on Intelligent Systems

The Simulation Research on Fuzzy PID Control Strategy of Commercial Vehicle EPS System
Wei Yang, Hui Liu,Shuo Zhang, Jingyu Liu
Department of Vehicle Engineering Chang an University Xi an, China

AbstractAccording to the characteristic of commercial vehicle EPS system, this paper proposes application of the fuzzy PID control strategy to EPS system. This strategy adjusts PID parameters online according to the various operating conditions, and its advantages are faster dynamic response speed of fuzzy control and higher precision of PID control. Through Simulink simulation of fuzzy PID control and PID control respectively, the result indicated that comparing with PID control, fuzzy PID control has many advantages, for example, faster response speed of system, shorter settling time, smaller overshoot. So it is greater suitability for commercial vehicle EPS system.

II.

DESIGN OF FUZZY PID CONTROLLER

A. The Structure of Fuzzy PID Controller The fuzzy PID controller needs to input bias e and bias changes ec, and applies fuzzy control rules to modify the parameter online at different times in order to meet a requirement of self-adaptation. This bias is between target current of EPS system and actual current detected by current sensor. The structure of fuzzy PID controller is shown in figure 1.

Keywords-EPS; Fuzzy control; Simulation; Control strategy I. INTRODUCTION

Commercial vehicle EPS system is composed of torque sensor, speed sensor, circulating ball steering, electronic control unit, motors, worm gear reducer. Compared with the steering system of passenger vehicles, the steering system of commercial vehicles have larger axle weight of forward shaft and greater swing resisting moment, and requirement of certain assistance under high-speed. Commercial vehicle EPS system is a complex non-linear and time-dependent system, which requested real time adjustment and control of the assist power. With the driving wheel torque and vehicular speed changing, EPS system meets the demands of steering portable and control stability [1]. PID control is ineffective in control of nolinear and parameter timevarying system. Fuzzy PID control does not need accurate mathematical model, and has better dynamic property.

Figure 1. The structure of fuzzy PID controller

B. Defining Fuzzy Set of Inputs and Outputs The range of bias e and bias changes ec is defined as discourse domain of fuzzy set. Namely, e, ec={-3, -2, -1, 0, 1, 2, 3}, its fuzzy set is e , ec ={NB, NM, NS, Z, PS, PM, PB}, the ranges of controlled variable kp, ki, kd are [0.3, 0.3], [-0.06, 0.06] and [-3, 3] respectively. Its fuzzy subset is kp, ki, kd = {NB, NM, NS, Z, PS, PM, PB}. In the subset, elements represent negative big, negative medium, negative small, zero, positive small, positive medium, positive big respectively.
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978-0-7695-4304-8/10 $26.00 2010 IEEE DOI 10.1109/GCIS.2010.61

C. Defining Membership Function of Inputs and Outputs After bias e, bias changes ec, kp, ki, kd and discourse domain of fuzzy set are defined, we need to evaluate the fuzzy variable, and determine the grade of membership of fuzzy variable corresponding with element of discourse domain. This paper chooses triangle-shape, Zshape and S-shape grade of membership function. Figure 2 to Figure 6 show membership functions of bias e, bias changes ec, kp, ki, kd respectively.
Figure 5. Kis degree of membership function

Figure 2. es degree of membership function

Figure 6. Kds degree of membership function

D. Establishing of Rule Table of Fuzzy Control According to the principle of the PID parameter fuzzy self setting and combining with EPS system's characteristic [4], this paper establishes the rule tables of fuzzy control which are set by three parameter distinction, as shown in Table I, II and III.
TABLE I. Kp fuzzy control rule table Figure 3. ecs degree of membership function ec Kp NB NM NS Z PS PM PB Figure 4. Kps degree of membership function PB PB PM PM PS PS Z PB PB PM PM PS Z Z PM PM PM PS Z NS NM PM PS PS Z NS NM NM PS PS Z NS NS NM NM Z Z NS NM NM NM NB Z NS NS NM NM NB NB NB NM NS Z PS PM PB

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TABLE II. Ki fuzzy control rule table ec Ki NB NM NS Z PS PM PB NB NB NB NM NM Z Z NB NB NM NM NS Z Z NM NM NS NS Z PS PS NM NS NS Z PS PS PM NS NS Z PS PS PM PM Z Z PS PM PM PB PB Z Z PS PM PB PB PB NB NM NS Z PS PM PB

When running, the fuzzy PID controller is adjusting parameter kp, ki, kd of PID real-time in the movement through fuzzy logic regular result's processing, looking up the table and computing. III.
SYSTEM SIMULATION ANALYSES

TABLE III. Kd fuzzy control rule table ec Kd NB NM NS Z PS PM PB PS PS Z Z Z PB PB NS NS NS NS Z NS PM NB NB NM NS Z PS PM NB NM NM NS Z PS PM NB NM NS NS Z PS PS NM NS NS NS Z PS PS PS Z Z Z Z PB PB NB NM NS Z PS PM PB

E. Fuzzy Inference and Difuzzification The fuzzy inference utilizes Fuzzy inference algorithm and fuzzy control rules to obtain the final controlled variables. This paper selects Mamdani control rule as fuzzy control rule, and chooses the gravity model approach as the counter-fuzzy method. After the fuzzy control rule table of

Under the Simulink simulation environment, the paper simulate EPS system of 1 gross tonne certain commercial by the fuzzy PID control and PID control respectively. Figure.7 shows response curve of horizontal oscillating angular velocity in different control methods, when the Vehicle run at 40km/h and at 10Nm step torque on the steering wheel. Figure.8 shows response curve of horizontal oscillating angular velocity in different control methods, when the vehicle runs at 70km/h and at 10Nm step torque on the steering wheel. Figure.9 shows response curve of horizontal oscillating angular velocity in different control methods, when the vehicle run at 40km/h and at 15Nm step torque on the steering wheel. Figure.10 shows response curve of horizontal oscillating angular velocity in different control methods, when the vehicle run at 70km/h and at 15Nm step torque on the steering wheel. It can be seen from these figures that the strategy of the fuzzy PID control shows more advantages, which is faster response speed of system, shorter settling time, smaller overshoot, stronger robustness, and improves its dynamic performance, more suitability for EPS system of commercial vehicle in various operating conditions.

k p , ki , kd

has

been established, fuzzy controller obtains correction factors of factor of proportionality, differential coefficient, factor of integration through fuzzification, fuzzy inference, difuzzification. These correction factors are represented by

k p

ki

and

kd

.Taking them into following


Figure 7. The yaw-rate response curve of automobile under different control strategy

calculated mode:

k p = k p 0 + k p ki = ki 0 + ki k = k + k d0 d d

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Figure 8. The yaw-rate response curve of automobile under different speed

Figure 10. The yaw-rate response curve of automobile under different speed and different torque

IV.

CONCLUSION

The paper has designed the fuzzy PID controller, and has selected the parameter. Under the Simulink simulation environment, through import the different control strategy to the EPS system to carry on the simulation respectively. The simulation result indicated: The fuzzy PID control policy has the better control effect, is suitable for the commercial vehicle EPS system. REFERENCES

[1] Figure 9. The yaw-rate response curve of automobile under different torque

[2] [3]

[4]

Donglin Zhou, Juhua Huang,Qun Zeng. Application of fuzzy PID controller's in electric power steering system [D]. Manufacturing automation, 2004. Jinkun Liu, Intelligent control [M]. Beijing: Publishing house of electronics industry, 2005:18-57. Weiguo Zhang, Xiangzhong Yang. The theory and application of fuzzy control [M]. Xi'an: Northwestern polytechnical university press, 2004:49. Xiongbo Wang, The study and development of electric powerassisted steering system based on fuzzy control [D]. Hunan University, 2008.

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