Research On Control Strategy And Road Spectrum Filtering Algorithm Of On-board Servo System Between Vehicles

The control strategy and compensation of road disturbance are the key parts of the vehicle-mounted servo system when collimating/tracking highly manoeuvrable object quickly,stably and accurately under the condition of road jounce.In this paper,biaxis vehicle-mounted servo system is used as the research object and two control algorithms based on partition PID control strategy are proposed for different working state.For the purpose of compensate road disturbance an Adaptive Kalman Filtering(AKF)algorithm is proposed.The experiment results indicate that the performance satisfies the requirements.Firstly,the main function of the servo system and the requirements of performance are introduced,and the type of motor and other key parts are selected according to the requirements.A biaxis-coupling servo system simulation model is built with Matlab simulation tools.Secondly,the spectrum of road signal is analyzed and autoregressive(AR)model is built for the road spectrum.An AKF algorithm based on the estimation of gain matrix K is proposed,which is superior to classical KF and Sage-Husa AKF.Then,The PID complex control algorithm with feed-forward control realizes the fast and stable tracking of the target when the servo system is stationary.And the compound control method based on disturbance compensation is adopted when the vehicle is moving.The simulation results show that both of the two algorithms can satisfy the stability control of servo system under different conditions.Finally,the design of digital control system is realized using the discrete design method of continuous system.The software designs of control algorithm for multiple working states of the system are completed.And the debugging results show that the system has good stability and tracking ability under multiple working state.