基于模拟退火算法的主动后轮转向PID控制器参数优化研究

Optimization Study of Active Rear Wheel Steering PID Controller Parameters Based on Simulated Annealing Algorithm

摘要: 为应对车辆在高速低附着路面工况下易发生失稳的问题，文章以具备主动后轮转向功能的四轮转向车辆为研究对象，构建了基于二自由度车辆动力学模型与魔术轮胎模型的系统结构，设计了以跟踪理想横摆角速度为控制目标的PID控制器，以提升车辆的操稳性能与行驶稳定性，在MATLAB中建立联合仿真模型，通过模拟退火算法(SAA)算法全局整定优化PID参数，结合积分平方误差(ISE)指标抑制稳态误差与超调量。MATLAB仿真结果表明：相较于传统PID，优化后的控制效果明显优于传统PID控制。验证了SAA在参数全局寻优中的优势，为复杂工况下的车辆稳定性控制提供了可行方案。

Abstract: In order to cope with the problem of vehicle instability under high speed and low adhesion road conditions, this paper takes the four-wheel steering vehicle with active rear-wheel steering function as the research object, constructs the system structure based on the two-degree-of-freedom vehicle dynamics model and the magic tire model, and designs the PID controller with the tracking of the ideal pendulum angular velocity as the control objective to improve the vehicle’s maneuvering performance and driving stability, and establishes the joint simulation model in MATLAB. A joint simulation model is established in MATLAB, and the PID parameters are optimized by global rectification of Simulated Annealing Algorithm (SAA) algorithm, which is combined with the Integral Squared Error (ISE) index to suppress the steady state error and overshooting. The simulation results in MATLAB show that the optimized control effect is significantly better than that of the traditional PID control. The advantages of SAA in the global optimization of parameters are verified, which provides a feasible solution for the stability control of vehicles under complex working conditions.