基于改进粒子群算法优化的车辆运动侧倾控制研究

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。

RESEARCH ON VEHICLE MOTION ROLL CONTROL BASED ON IMPROVED PARTICLE SWARM OPTIMIZATION ALGORITHM

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.