基于改进粒子群算法优化的车辆运动侧倾控制研究
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摘要
为了避免车辆在不同路面状况下发生侧翻现象,提高车辆行驶的稳定性,采用改进PID控制车辆侧倾角位移运动轨迹。创建车辆模型简图,给出车辆侧倾运动方程式。引用PID控制方法,对粒子群算法惯性权重系数进行改进,将改进粒子群算法用于优化PID控制,设计出车辆侧倾角位移控制流程,对控制器参数进行优化和调节。通过MATLAB软件对车辆侧倾角位移跟踪效果进行仿真验证,并与PID控制效果进行比较。结果表明:路面在无波形干扰条件下,采用传统PID控制和改进PID控制方法都能较好地完成车辆侧倾角位移跟踪,跟踪误差较小;路面受到波形干扰条件下,采用传统PID控制侧倾角位移跟踪误差较大,而改进PID控制侧倾角位移跟踪误差较小。采用改进PID控制方法,可以抑制路面波形的干扰,提高车辆侧倾角位移跟踪精度。
In order to avoid rollover phenomenon under different road circumstances,the improved PID is used to control the trajectory of vehicle side slope displacement to improve the stability of vehicle driving.The vehicle model diagram is created,and the equation of vehicle roll motion is given.The PID control method is used to improve the inertia weight coefficient of particle swarm algorithm.The improved particle swarm algorithm is used to optimize the PID control.The control flow of vehicle roll angle displacement is designed,the controller parameters are optimized and adjusted.The tracking effect of vehicle roll angle displacement is simulated by MATLAB software and compared with PID control effect.Under the condition of no waveform disturbance,the traditional PID control and the improved PID control method can complete the vehicle roll angle displacement tracking well,the tracking error is small.Under the condition of waveform disturbance,the tracking error of roll angle displacement by traditional PID control is larger,while that by improved PID control is smaller.The improved PID control method can restrain the disturbance of road waveform and improve the tracking accuracy of vehicle roll angle displacement.
In order to avoid rollover phenomenon under different road circumstances,the improved PID is used to control the trajectory of vehicle side slope displacement to improve the stability of vehicle driving.The vehicle model diagram is created,and the equation of vehicle roll motion is given.The PID control method is used to improve the inertia weight coefficient of particle swarm algorithm.The improved particle swarm algorithm is used to optimize the PID control.The control flow of vehicle roll angle displacement is designed,the controller parameters are optimized and adjusted.The tracking effect of vehicle roll angle displacement is simulated by MATLAB software and compared with PID control effect.Under the condition of no waveform disturbance,the traditional PID control and the improved PID control method can complete the vehicle roll angle displacement tracking well,the tracking error is small.Under the condition of waveform disturbance,the tracking error of roll angle displacement by traditional PID control is larger,while that by improved PID control is smaller.The improved PID control method can restrain the disturbance of road waveform and improve the tracking accuracy of vehicle roll angle displacement.
引文
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[3]段小成,唐新蓬,谭勇.基于模糊PID的车辆侧倾主动控制仿真研究[J].机械与电子,2007(4):53-55.
[4]姚嘉凌,王蒙,李智宏,等.基于主动悬架的车辆主动侧倾控制研究[J].机械强度,2018,40(3):534-539.
[5]陈祥林,赵韩,甄圣超.基于模糊滑模控制的汽车主动横向稳定杆研究[J].农业装备与车辆工程,2018,56(6):18-21.
[6]陈松,夏长高,李胜永,等.车辆横摆与侧倾稳定性控制研究[J].机械设计,2018,35(6):97-103.
[7]蔡宇萌.基于车辆侧倾运动安全性的主动悬架LQG控制器设计[D].镇江:江苏大学,2017.
[8]李明.标准粒子群算法的收敛性分析及改进研究[D].锦州:渤海大学,2018.
[9]邓伟,宋景,黄昊旻,等.基于动态权重SA-PSO的工艺路线决策[J].井冈山大学学报:自然科学版,2018,39(2):45-49.
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