基于免疫算法的车辆控制器的设计
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摘要
随着社会经济的发展,越来越多的人都成为有车一族。在给社会和人民带来便利的同时,交通事故特别是追尾事故也相应迅速增加,给社会经济的发展和人民的生命造成了极大损失。因此,论文结合实际需要,研究自动驾驶中的车速跟踪控制器。
PID控制是最早发展起来的控制策略之一,由于其算法简单、鲁棒性好和可靠性高,被广泛应用于工业过程控制。常规PID控制器参数往往整定不良、性能欠佳,对运行工况的适应性很差。近年来,免疫算法在控制上的应用日益增多。免疫优化算法是一种全局优化算法,不需要任何初始信息并可以寻求全局最优解的、高效的优化组合方法。通过免疫优化算法对PID控制器整定是一种可行方案。
本文结合人工免疫算法理论,设计了一种免疫PID控制器用于自动驾驶中的车速跟踪控制。通过免疫优化算法,优化PID控制器的三个参数,实现PID参数的自动调节,达到车速跟踪的目的。仿真结果表明,将免疫优化算法和PID控制器有效结合起来的免疫PID控制器,不但使车速跟踪过程具备了很强的自适应性和抗干扰能力,而且有效地提高了系统稳定性、改善了系统的稳态和动态性能,展现了十分良好的控制效果。
以免疫优化算法整定PID控制器参数方法为基础,设计了一种嵌入式免疫PID控制器用于车速跟踪控制。在硬件方面,选用了ICETEK-OMAP3530-Mini智能系统板。Mini板是以TI最新的、高性能的ARMCortex A8处理器OMAP3530为核心,形成一个精简完备的计算机系统。Mini板使用了标准接口,这就使它非常灵活地能扩展连接许多PC标准设备。在软件方面,详细介绍了嵌入式实时系统Linux在ICETEK-OMAP3530-Mini板上的移植过程。对该嵌入式免疫PID控制器进行了实验,实验结果表明该算法在车速跟踪控制过程中,有着良好的工作性能和稳定性,具有较高的应用价值。
With the development of social economy, more and more people become carowners.Cars bring convenience to the community and the the people.At the same time, traffic accidents also increase rapidly, especially in rear-end accident,leading to tremendous loss for social and economic development and people's lives. Therefore, combined with the practical needs,the thesis study the design of speed tracking controller.
PID control is one of the control strategy,which is the first developed.Because of its simple algorithm, robustness and reliability, PID are widely used in industrial process control.The parameters of Conventional PID controller often have bad tuning, poor performance and adaptive poor operating conditions. In recent years, immune algorithm in control applications is increasing.Immune optimization algorithm is a global optimization algorithm,which doesn’t need any initial information and can seek the global optimal solution, optimized and efficient way. Immune optimization algorithm for the tuning of PID controller is a feasible option.
Combined with artificial immune algorithm ,this theory design an immune PID controller,which is used to the speed tracking control for automatic driving. By immune optimizeation algorithm, the three parameters of PID controller are optimized to realize the automatic adjustment of PID parameters and achieve the speed tracking.Simulation results show that immune PID controller,which combines effectively the immune algorithm with PID controller,not only has a strong adaptability and anti-interference ability in the speed tracking process,but also effectively improves the system stability, improves the steady state and dynamic performance, and shows a very good control effect.
Based on the method that immune optimization algorithm adjusts to the parameter of PID controller. an embedded immune PID controller in vehicle speed tracking.On the hardware side, the ICETEK-OMAP3530-Mini intelligent system board is selected. Mini board is OMAP3530 core,which is the latest and high-performance ARMCortex A8 processor, to form a streamlined and completed computer system.Mini board uses a standard interface, which makes it very flexible to extend to connect many PC standard equipment.In terms of software,the process is introduced in detail that embedded real-time system Linux is transplanted in ICETEK-OMAP3530-Mini board.Embedded immune PID controller carried out experiments,and the experimental results show that the algorithm has good work performance and stability, and has a high application value.
PID控制是最早发展起来的控制策略之一,由于其算法简单、鲁棒性好和可靠性高,被广泛应用于工业过程控制。常规PID控制器参数往往整定不良、性能欠佳,对运行工况的适应性很差。近年来,免疫算法在控制上的应用日益增多。免疫优化算法是一种全局优化算法,不需要任何初始信息并可以寻求全局最优解的、高效的优化组合方法。通过免疫优化算法对PID控制器整定是一种可行方案。
本文结合人工免疫算法理论,设计了一种免疫PID控制器用于自动驾驶中的车速跟踪控制。通过免疫优化算法,优化PID控制器的三个参数,实现PID参数的自动调节,达到车速跟踪的目的。仿真结果表明,将免疫优化算法和PID控制器有效结合起来的免疫PID控制器,不但使车速跟踪过程具备了很强的自适应性和抗干扰能力,而且有效地提高了系统稳定性、改善了系统的稳态和动态性能,展现了十分良好的控制效果。
以免疫优化算法整定PID控制器参数方法为基础,设计了一种嵌入式免疫PID控制器用于车速跟踪控制。在硬件方面,选用了ICETEK-OMAP3530-Mini智能系统板。Mini板是以TI最新的、高性能的ARMCortex A8处理器OMAP3530为核心,形成一个精简完备的计算机系统。Mini板使用了标准接口,这就使它非常灵活地能扩展连接许多PC标准设备。在软件方面,详细介绍了嵌入式实时系统Linux在ICETEK-OMAP3530-Mini板上的移植过程。对该嵌入式免疫PID控制器进行了实验,实验结果表明该算法在车速跟踪控制过程中,有着良好的工作性能和稳定性,具有较高的应用价值。
With the development of social economy, more and more people become carowners.Cars bring convenience to the community and the the people.At the same time, traffic accidents also increase rapidly, especially in rear-end accident,leading to tremendous loss for social and economic development and people's lives. Therefore, combined with the practical needs,the thesis study the design of speed tracking controller.
PID control is one of the control strategy,which is the first developed.Because of its simple algorithm, robustness and reliability, PID are widely used in industrial process control.The parameters of Conventional PID controller often have bad tuning, poor performance and adaptive poor operating conditions. In recent years, immune algorithm in control applications is increasing.Immune optimization algorithm is a global optimization algorithm,which doesn’t need any initial information and can seek the global optimal solution, optimized and efficient way. Immune optimization algorithm for the tuning of PID controller is a feasible option.
Combined with artificial immune algorithm ,this theory design an immune PID controller,which is used to the speed tracking control for automatic driving. By immune optimizeation algorithm, the three parameters of PID controller are optimized to realize the automatic adjustment of PID parameters and achieve the speed tracking.Simulation results show that immune PID controller,which combines effectively the immune algorithm with PID controller,not only has a strong adaptability and anti-interference ability in the speed tracking process,but also effectively improves the system stability, improves the steady state and dynamic performance, and shows a very good control effect.
Based on the method that immune optimization algorithm adjusts to the parameter of PID controller. an embedded immune PID controller in vehicle speed tracking.On the hardware side, the ICETEK-OMAP3530-Mini intelligent system board is selected. Mini board is OMAP3530 core,which is the latest and high-performance ARMCortex A8 processor, to form a streamlined and completed computer system.Mini board uses a standard interface, which makes it very flexible to extend to connect many PC standard equipment.In terms of software,the process is introduced in detail that embedded real-time system Linux is transplanted in ICETEK-OMAP3530-Mini board.Embedded immune PID controller carried out experiments,and the experimental results show that the algorithm has good work performance and stability, and has a high application value.
引文
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[2] Chih-Cheng Kao,Chin-Wen Chuang,Rong-Fong Fung. The self-tuning PID control in a slider–crank mechanism system by applying particle swarm optimization approach Mechatronics 16(2006) :513~522.
[3]李舜酩,沈峘,毛建国,辛江慧,缪小东.智能车辆发展及其关键技术研究现状[J].传感器与微系统,2009,28(1):1-3.
[4] Polat, K., & Gu¨nes , S. (2007). Medical decision support system based on arti?cial immune recognition immune system (AIRS), fuzzy weighted pre-processing and feature selection. Expert Systems with Applications,33(2), 484~490.
[5]布洛基,布图兹等.智能车辆[M].北京:人民交通出版社,2002:11.
[6]苏周成.车辆转弯制动稳定性动力学控制研究[D].重庆:重庆大学,2007.
[7]侯德藻.汽车纵向主动避撞系统的研究[D].北京:清华大学,2004.
[8] Birgitta Kristiansson,Bengt Lennartson. Evaluation and simple tuning of PID controllers with high-frequency robustness.Journal of Process Control 16(2006) :91~102.
[9]杨殿阁,李克强,郑四发,侯德藻,连小珉.智能交通系统中的汽车技术[J].汽车工程,2003,27(3):236-241.
[10]社团法人编,董国良等译.智能交通系统[M].北京:人民交通出版社,2000:35.
[11]崔胜民,薛瑞臻.汽车巡航控制技术的研究[J].交通科技与经济,2002,15(4):286-291.
[12] Henry Y.K. Lau , Vicky W.K. Wong , Alex K.S. Ng. A cooperative control model for multiagent-based material handling systems.Expert Systems with Applications36(2009) :233~247.
[13]王跃建,侯德藻,李克强,连小珉.基于ITS的汽车主动避撞性关键技术研究[J].汽车技术,2003,32(3):126-131.
[14]王红岩,秦大同,周云山,裘熙定.无级变速汽车速度巡航模糊控制器的研究[J].汽车工程,2000,24(4):230-235.
[15]李斌.智能车辆前方车辆探测及安全车距控制方法的研究[D].长春:吉林大学,2002.
[16] Singh, S., & Thayer, S. (2001). Immunology directed methods for distributed robotics: a novel, immunity-based architecture for robus control & coordination. Proceedings of SPIE: Mobile Robots XVI4573, 44~55.
[17]严志铭,杨均忠.汽车纵向主动避撞系统技术的应用探讨[J].机电工程技术,2006,15(10):198-203.
[18]安向京.自动驾驶智能车辆视觉导航系统研究——理论、方法和系统实现[D].北京:国防科技大学,2001.
[19] Harmer, P. K., Williams, P. D., Gunsch, G. H., & Lamont, G. B. (2002).An Arti?cial Immune System Architecture for Computer Security Applications. IEEE Transactions on Evolutionary Computation, 6(3),252~280.
[20]马雷.高速智能车辆滑模变结构转向控制系统的研究[D].长春:吉林大学,2003.
[21] H. Meshref, H. VanLandingham, Arti?cial immune systems: application to autonomous agents, in: Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Nashville, TN, (2000), pp. 61~66.
[22]蔡自兴.智能控制原理与应用[M].北京:清华大学出版社,2007:11.
[23]师黎,陈铁军.智能控制理论及应用[M].北京:清华大学出版社,2009:4.
[24] Nurkan Yagiz, Yuksel Hacioglu.Backstepping control of a vehicle with active suspensions. Control Engineering Practice16(2008) :1457~1467.
[25]李君,张建武,冯金芝,雷雨龙,葛安林.基于自学习模糊神经网络ATM车辆巡航控制[J].机械工程学报,2001,37(1) :63-68.
[26] Yong-Sheng Ding, Zhi-Hua Hua, Hong-Bin Sun. An antibody network inspired evolutionary framework for distributed object computing.Information Sciences178(2008) :4619~4631.
[27]李勤,李擎等.基于遗传算法的延迟反馈法控制Lorenz混沌系统[J].计算机工程与应用,2005,26(1):212-214.
[28]莫宏伟,左兴权.人工免疫系统[M].北京:科学出版社,2009:1.
[29] Kemal Polat , Salih Gunes. A new method to forecast of Escherichia coli promoterne sequences: Integrating feature selection and Fuzzy-AIRS classi?er system.Expert Systems with Applications 36(2009) :57~64.
[30]焦李成,杜海峰.免疫优化计算、学习与识别[M].北京:科学出版社.2006:6.
[31] K.J. AAstr.om, T.H .agglund.The future of PID control. Control Engineering Practice 9(2001) :1163~1175.
[32]王斌.基于免疫原理的智能控制研究[D].哈尔滨:哈尔滨工业大学,2006.
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