Particle Swarm Optimization Drive-by-wire Active Steering Sliding Mode Controller Design
The driving stability of vehicles under complex road conditions and extreme driving scenarios is a key focus of vehicle control systems research.To address this issue,a steering-by-wire control strategy based on Sliding Mode Control(SMC)is proposed;with the controller parameters optimized using Particle Swarm Optimization(PSO).First,a model of the steering-by-wire system was developed,and a Carsim/Simulink co-simulation model was constructed.Next,the sliding mode controller was designed based on a two-degree-of-freedom vehicle model,with yaw rate and sideslip angle deviations as control targets and front wheel steering angle compensation as the output.Then,a multi-objective particle swarm optimization algorithm was implemented in MATLAB to optimize the sliding mode controller parameters.Finally,the corrected front wheel steering angle was output.Simulation results indicate that,in the absence of lateral wind,the SMC optimized with PSO significantly improves vehicle handling stability,reducing yaw rate and sideslip angle errors by 2.41％and 1.18％,respectively,at the 11-second mark.Under lateral wind con-ditions,the optimized SMC significantly reduces lateral displacement error rates,with reductions of 2.3％on high friction surfaces and 4.4％on low friction surfaces at the 14-second mark.
co-simulationsteer-by-wire active steeringPSO-SMCparameter tuning
万方数据
维普
