中文摘要：

在多轴车辆转向优化控制的研究中,转向系统的响应影响多轴转向车辆操纵稳定性。针对由电液伺服系统构成的多轴车辆转向系统响应速度慢、精度低和输入跟踪困难的问题,在建立转向系统机械—液压耦合的电液伺服转向模型的基础上,设计了基于优化了的CMAC神经网络的PID控制器;利用系统仿真软件Matlab进行仿真不同方向盘输入情况下的仿真,并与常规的控制器相比较,结果表明：相对一般的PID控制系统,采用优化的CMAC-PID控制器的转向系统的响应速度提高了一倍,调节的平稳性大幅增加,尤其对于任意波形输入条件下的跟踪控制性能有了明显提高。结果证明了CMAC-PID控制的多轴转向系统有较高的响应精度和较快的响应速度。

英文摘要：

The response of steering system is the key factors influencing the multi - axle steering vehicle steering stability. In order to solve the problems of slow response speed, low accuracy and difficult tracking, a mathematic model of electro - hydraulic servo steering system is built, and a PID controller base on the optimizing CMAC neural network is designed. Simulation results show that, compared with the conventional PID controller, the proposed con- troller has double response speed, the greatly increased stationarity, and obviously improved tracking performance of arbitrary waveform input.