自适应膜计算算法及在ABS系统中的应用  

Self-adaptive Membrane Computing Algorithm and Its application in ABS System

作　　者：付杰[1] 赵进慧 虞乐丹 FU Jie;ZHAO Jin-hui;YU Le-dan(Rail Transit Department,Zhejiang Institute of Communications,Hangzhou 311112,China;College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China;Traffic Police Detachment of Hangzhou,Hangzhou 310014,China)

机构地区：[1]浙江交通职业技术学院轨道交通学院,杭州311112 [2]中国计量大学机电工程学院,杭州310018 [3]杭州市交警支队,杭州310014

出　　处：《控制工程》2019年第1期155-161,共7页Control Engineering of China

基　　金：浙江交通职业技术学院科技研究基金项目(2016YK04);国家自然科学基金项目(61403356;61573311)

摘　　要：针对传统方法设计的PID控制器在汽车防抱死控制系统(AntilockBrakingSystem,ABS)中,难以满足全工况运行的性能要求,提出一种自适应膜计算优化算法用于整定PID控制器参数。所提算法改进了变异规则在寻优过程中的自适应性,从而克服算法的收敛速率低及较差的抗欺骗能力。算法通过自适应变异规则、转位规则、交叉规则及交流规则对膜内可行解不断更新,最终求出最优解。通过4个不同维数的典型测试函数对算法的计算精度,收敛速率等性能的测试显示了该算法有效性,并明显优于4种对比算法。最后,将算法用于ABS系统中,整定的PID控制器参数实现了良好的全工况下制动控制性能。Considering that the traditional design method of PID controller in the automotive antilock braking system(ABS) cannot meet the performance requirements for all operating conditions,a self-adaptive membrane computing optimization algorithm is proposed to tune PID controller parameters.The adaptability of the mutation rules in the optimization process is improved in the proposed algorithm,thus,low convergence rate and poor ability to resist cheating of the algorithm are overcome.Then,four types of rules including the adaptive mutation rule,the transformation rule,the crossover rule,and the communication rule in this algorithm are adopted to constantly update the feasible solution in membrane to obtain the optimal solution.The performance of the algorithm is tested in computing accuracy and convergence rate by four typical test functions with different dimensions,which shows that the proposed algorithm is effective and it is better than other four algorithms.Finally,the proposed algorithm is used for the antilock braking system and the parameters of the PID controller are adjusted to achieve good braking performance under all operating conditions.

关 键 词：膜计算算法 自适应变异规则 汽车防抱死系统 控制器 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]