基于粒子群优化算法PID参数优化的双电机耦合驱动履带车辆转向控制

doi:10.12382/bgxb.2022.0788

摘要/Abstract

摘要：

针对电驱动履带车辆转向灵敏度不高、控制精度难的问题进行转向控制策略研究,对双电机耦合驱动履带车辆开展动力学分析,利用数学仿真软件建立转向动力学模型。设计一种基于粒子群优化算法对比例-微分-积分控制器(Proportional-Integral-Differential controller,PID)参数优化的转向控制策略,以改进型时间乘绝对误差积分指标为粒子群优化算法目标函数,对PID转向控制策略中的控制参数进行实时优化,动态调节控制参数,实现车辆转向控制系统优化输出。利用硬件在环仿真平台和实车试验,对控制策略进行仿真和实车试验验证,试验结果验证了控制策略的有效性。

关键词: 电驱动履带车辆, 粒子群优化算法, 转向控制, 耦合机构

Abstract:

In order to improve the accuracy of the steering control system of electric tracked vehicle and the sensitivity of vehicle steering, a steering control strategy is studied, and a dynamic analysis is made on a dual-motor coupling drive electric tracked vehicle. A steering dynamics model of electric tracked vehicle is established based on Mathematical simulation software. Then a steering control strategy based on PID parameter optimization of particle swarm optimization algorithm is designed. The improved ITAE index is used as the objective function of particle swarm optimization algorithm to optimize the control parameters in the PID steering control strategy in real time, and the control parameters are dynamically adjusted to realize the optimal output of vehicle steering control system. Finally, the hardware-in-the-loop simulation platform and real vehicle test are used to verify the control strategy. The test results shows that the steering control strategy is effective.

Key words: electric tracked vehicle, particle swarm optimization algorithm, steering control, coupling mechanism

中图分类号:

TJ811

李欢欢, 刘辉, 盖江涛, 李训明. 基于粒子群优化算法PID参数优化的双电机耦合驱动履带车辆转向控制[J]. 兵工学报, 2024, 45(3): 916-924.

LI Huanhuan, LIU Hui, GAI Jiangtao, LI Xunming. Steering Control of Dual-motor Coupling Drive Tracked Vehicle Based on PSO PID Parameter Optimization[J]. Acta Armamentarii, 2024, 45(3): 916-924.

图/表 11

图1 双电机耦合驱动系统简图

Fig.1 Structural sketch of dual-motor coupling drive transmission

图2 履带车辆转向简图

Fig.2 Steering dynamics of tracked vehicle

图3 PSO算法流程图

Fig.3 Flow chart of PSO algorithm

图4 转向控制策略设计框图

Fig.4 Design block diagram of steering control strategy

图5 硬件在环仿真平台

Fig.5 Hardware-in-the-loop simulation platform

图6 阶跃响应对比图

Fig.6 Step response comparison chart

图7 16km/h车速转向仿真图

Fig.7 16km/h-speed steering simulation diagram

图8 30km/h车速转向仿真图

Fig.8 30km/h-speed steering simulation diagram

图9 18km/h车速转向试验图

Fig.9 18km/h-speed steering test diagram

图10 35km/h车速转向试验图

Fig.10 35km/h-speed steering test diagram

图11 转向轨迹对比图

Fig.11 Comparison of steering trajectories

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