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Heavy Truck EPS System Simulation Based On PSO Optimization Fuzzy Control - Jian-Qiang2015 PDF
Heavy Truck EPS System Simulation Based On PSO Optimization Fuzzy Control - Jian-Qiang2015 PDF
Heavy Truck EPS System Simulation Based on PSO Optimization Fuzzy Control
I. INTRODUCTION
In the field of passenger vehicles ESP system control,
research institutes and experts and scholars in China and
abroad has made a lot of research and got some results, and
mainly used PID control algorithm, fuzzy PID control
algorithm, neural network PID control algorithm, neural
network control algorithm, sliding model control algorithm
and HĞcontrol theory, etc. Some research results have been
got in the above research, but some problems still existed,
such as: whole vehicle model mostly applies 2-DOF two
wheels model, which can’t simulate the impact of ground Fig 1. Vehicle forece analysis
resistance moment act on the steering system when moving
or pivot steering. The nonlinear state of heavy truck can’t be B. Tire model
simulated when applying linear tire model. Control Tire model is chosen as nonlinear Dugoff model
algorithm can’t be adjusted in real-time according to road Fxij f ij C xij Sij (ij fl , fr , rlˈrr ) (4)
and operation condition for the best control, once it has
been set[1-4]. Fyij fij C yij ij (ij fl , fr , rlˈrr )
II. SYSTEM OVERALL DESIGN AND DYNAMIC Frij (Cxij Sij ) 2 (C yijij ) 2
MODELING
ij Fzij
A. Vehicle forece analysis
1, F rij
2
m v o DF f cos DFr Fd fij (5)
(1) F F F
(2 ij zij ) ij zij , Frij ij zij
mv o DF f sin 2 Frij 2 Frij 2
(2)
Where, C xij , C yij are the longitudinal and lateral stiffness of
mV oz Fzfh Fzfm Fzrh Fzrm mg (3) tires; Fzij is the vertical load of tires; ij is the side-slip
978-1-5090-0464-5/16
/16 $31.00 © 2016 IEEE
$31.00 © 2016 IEEE 446
DOI 10.1109/ICITBS.2015.116
angle of tires; ij is the adhesion coefficient; S ij is the slip Fuzzy controller
+ e
ke
ratio of tires.
̶
Vertical load of each tire: kI I
ec
lr hg h
lr d/dt kec
Fzfl mg mVx mVy
g
2(l f lr ) 2(l f lr ) B f (l f lr )
PSO
lr hg hg lr Fig 3. Fuzzy Control Strategy Based on Particle Swarm
Fzfr mg mVx mVy
2(l f lr ) 2(l f lr ) Bf (l f lr ) Optimization
The control variable e, ec and I were quantified as [-6,
lf hg hg lf 6], [- 0.3, 0.3] and [-6, 6], the fuzzy subset are {NB, NM, NS,
Fzrl mg mVx mVy ZO, PS, PM, PB}. The elements of subset represent the
2(l f lr ) 2(l f lr ) Br (l f lr ) negative big, negative middle, the negative small, zero,
lf hg hg lf positive small, positive middle, positive big. Membership
Fzrr mg mVx mVy function of input and output variables of the fuzzy
2(l f lr ) 2(l f lr ) Br (l f lr ) controller applied triangular membership function.
Specified the steering wheel clockwise is positive, when e
C. DC motor model and ec is larger, if the values of both were PB, then it was in
EPS system power motor is the kind of permanent need to output larger negative assistance moment; and when
magnet brushless DC motor, with the aim to control the e and ec is smaller, if the values of both were NS, then it
terminal voltage of DC motor. DC motor simplified was in need to output smaller positive assistance moment.
equivalent structure is shown in Fig 2, The mathematical PSO implements individual and global optimization by
model of DC motor is established according to the particle population to get the best optimization, and it’s
characteristics of the circuit: suitable for nonlinear systems [7].
dI d The composition of the particle swarm given as
U L RI K b m (6) follows:
dt dt
x {x1 , x2 , L , xm }
Where, K b is the back EMF coefficient; m is the motor
The position and velocity information of each particle
rotation angle. is:
xi {xi1 , xi 2 , L , xin }
vi {vi1 , vi1 , L , vin }
The relationship of k+1-dimensional in PSO as
follows:
vid (k 1) vid (k ) c1rand ()( Pid (k ) xid (k ))
(7)
c2 rand ()( Pgd (k ) xid (k ))
xid (k 1) xid (k ) vid (k 1) (8)
Fig 2. The Equivalent Structure of DC Motor
Pid (t ) ( Pi1 (t ), Pi 2 (t ), L , Pid (t ))
III. PARTICLE SWARM OPTIMIZATION (PSO) FUZZY
CONTROL STRATEGY Pgd (t ) ( Pg 1 (t ), Pg 2 (t ), L , Pgd (t ))
this paper got targeted control current from the assist Where, is the inertia weight; vid (k ) is the particle
characteristic curves, by controlling the deviation between velocity of k-dimensional space; xid ( k ) is the particle
the target current and the actual current, using weighting
factors k e k ec k I of the fuzzy control strategy based on position of k-dimensional space; c1 , c2 are the acceleration
PSO online adjustment fuzzy controller to control the factors; rand () is the random number; Pid (k ) , Pgd ( k ) are
assistance current. Fuzzy control strategy based on particle respectively the individual extremum of particles and global
swarm optimization is presented in Fig 3. extremum of populations.
In order to accelerate the process of optimizing the
particle, the fitness function has been established according
to the literature [8], as follows:
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Model parameters Specific values
f k y(k ) dk (9) Distance from centroid to the front 1760
0 axle /mm
Where, y(k ) is the current deviation of k-moment; Tread /mm 1450
Z-axis moment of inertia /kg.m2 950
is the weighting coefficient. Cornering stiffness of front wheel
The initialization parameter settings in PSO: the -67830
N/rad
initialization number of particles is 30, the maximum Cornering stiffness of rear wheel
-125715
number of iterations is set to 150, the value of the inertia N/rad
weight is 0.9, the value of the particle velocity is [-3, 3], gear ratio of steering system 23
the value of particle position [0, 3], both of acceleration Gear ratio of worm reducer 20
Moment of inertia of DC motor
factors c1 , c2 are 1, the fuzzy control scale 0.009
/kg·m2
Torque coefficient of DC motor
factors k e , k ec , k I are 30 sets of random values in [0, 6]. Nm/A
0.0730
The weighted Coefficient is 0.6. The flow chart of whole Inductance of DC motor N·m·s/rad 0.02
process of PSO is shown in Fig 4. Back-EMF coefficient V·s/rad 0.015
Serpentine test peg layout diagram as Fig 5.
Start
Initialize PSO
End
Fig 4. Particle Swarm Optimization Flow Chart
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V. CONCLUSIONS
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