首页|扫路车线控转向前轮转角的双闭环控制策略

扫路车线控转向前轮转角的双闭环控制策略

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  • 国家科技期刊平台
  • NETL
  • NSTL
  • 万方数据
  • 维普
针对智能扫路车线控转向系统前轮转角跟踪精度不高的问题,提出一种基于遗传算法_PID控制与RBF网络自适应滑模控制结合的双闭环控制策略.采用层次分析法得到遗传算法适应度函数的多个控制目标的权重,将适用于扫路车的遗传算法_P1D控制器作为内环,用于转角跟踪;采用基于横摆角速度的RBF网络自适应滑模控制作为外环,逼近系统中的不确定成分,提高运行的稳定性.将该控制策略与其他控制策略对比,实验结果表明,该控制策略在提高车辆运行稳定性以及前轮转角跟踪上更具优势.
DOUBLE CLOSED LOOP CONTROL STRATEGY FOR FRONT WHEEL ANGLE OF SWEEPER STEER BY WIRE
Aimed at the problem that the front wheel angle tracking accuracy of the steering by wire system of the intelligent sweeper is not high,a double closed-loop control strategy based on genetic algorithm PID control and RBF network adaptive sliding mode control is proposed.Analytic hierarchy process was used to obtain the weights of multiple control objectives of genetic algorithm fitness function,and the genetic algorithm PID controller suitable for sweeper was obtained as the inner loop for angle tracking.The RBF network adaptive sliding mode control based on yaw velocity was used as the outer loop to approach the uncertain components in the system and improve the stability of operation.Compared with other control strategies,the experimental results show that the control strategy has more advantages in improving vehicle running stability and front wheel angle tracking.

Intelligent sweeperSteer by wire systemRadial basis function neural networkSliding mode controlGenetic algorithmAnalytic hierarchy process

仝光、朱金栋、尹浩

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上海电机学院机械学院 上海 201306

智能扫路车 线控转向系统 径向基神经网络 滑模控制 遗传算法 层次分析法

上海市绿化和市容管理局科研攻关项目上海电机学院研究生创新项目

G159918A1-0225-19-001-01-22

2024

10.3969/j.issn.1000-386x.2024.04.014

计算机应用与软件
上海市计算技术研究所 上海计算机软件技术开发中心

计算机应用与软件

CSTPCD北大核心
影响因子：0.615
ISSN：1000-386X
年,卷(期)：2024.41(4)
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