计算机应用与软件2024，Vol.41Issue(4)：90-95,111,7.DOI:10.3969/j.issn.1000-386x.2024.04.014
扫路车线控转向前轮转角的双闭环控制策略
DOUBLE CLOSED LOOP CONTROL STRATEGY FOR FRONT WHEEL ANGLE OF SWEEPER STEER BY WIRE
摘要
Abstract
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.关键词
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Key words
Intelligent sweeper/Steer by wire system/Radial basis function neural network/Sliding mode control/Genetic algorithm/Analytic hierarchy process分类
信息技术与安全科学引用本文复制引用
仝光,朱金栋,尹浩..扫路车线控转向前轮转角的双闭环控制策略[J].计算机应用与软件,2024,41(4):90-95,111,7.基金项目
上海市绿化和市容管理局科研攻关项目(G159918) （G159918）
上海电机学院研究生创新项目(A1-0225-19-001-01-22). （A1-0225-19-001-01-22）
