基于人群搜索优化PID控制的汽车四轮转向研究  

The Vehicle Four-Wheel-Steering Control Method Based on Seeker Optimization Algorithm and Tuning of PID Parameters

作　　者：郑路 王振成 赵永杰 冯宪民 ZHENG Lu;WANG Zhen-cheng;ZHAO Yong-jie;FENG Xian-min(College of Electromechanical and Vehicle Engineering,Zhengzhou Institute of Technology,He’nan Zhengzhou450044,China;Zhengzhou Bus Communication Corporation,He’nan Zhengzhou450054,China)

机构地区：[1]郑州工程技术学院机电与车辆工程学院,河南郑州450044 [2]郑州市公共交通总公司,河南郑州450054

出　　处：《机械设计与制造》2019年第10期185-188,共4页Machinery Design & Manufacture

基　　金：河南省重大科技攻关项目(152102210365);河南省科技攻关项目(102102210441);郑州市科技攻关项目(20141400)

摘　　要：为了提高汽车行驶的稳定性,通过建立两自由度双轮车模型对四轮转向车辆进行了研究。由车辆的力学性质列出了状态空间方程,通过传递函数矩阵及应用z变换进行了MATLAB编程。将车辆质心侧向速度和横摆角速度联合为适应度函数,应用人群搜索算法对后轮的转向输入进行了PID参数优化整定。通过驾驶员前轮角阶跃转向和后轮PID控制转向的仿真,进行了四轮转向算法验证,并与前轮转向进行了对比,仿真结果表明人群搜索算法优化的PID控制四轮转向使车辆具有较好的操纵稳定性。The four-wheel-steering vehicle is studied by the bicycle model with two degrees of freedom to improve the stability.The state space equation is listed by the mechanical properties of the vehicle,and the MATLAB programming is carried out through the transfer function matrix and the Z transform.The lateral velocity and yaw angular velocity of the vehicle are combined as fitness functions,and the PID parameters are optimized by applying the seeker optimization algorithm to the rear wheel steering input.The algorithm for four-wheel-steering is verified by step steer input of the front wheel and PID controlled steer input of rear wheel.The simulation results show that the seeker optimization algorithm to optimize the PID parameters of four-wheel-steering will improve vehicle handling and stability compared with the front wheel steering.

关 键 词：四轮转向 人群搜索算法 PID控制器 参数优化 

分 类 号：TH16[机械工程—机械制造及自动化] U461.6[机械工程—车辆工程]