自适应多种群遗传优化的SUV防侧翻控制方法

Anti-rollover control methods of an SUV based on adaptivemulti-population genetic optimization

针对SUV容易侧翻的问题,研究了自适应多种群遗传算法优化LQR差动制动防侧翻控制方法。建立包含横向、横摆、侧倾运动的3自由度车辆动力学模型;根据车辆状态参数设计LQR防侧翻控制器,控制4个车轮制动力;提出自适应多种群遗传算法优化LQR参数矩阵。选取典型侧翻工况仿真分析,结果表明该方法能够有效防止SUV侧翻。与手动调参的控制器相比,LQR防侧翻控制器能更快速控制横摆角速度、侧翻指标和侧倾角趋于稳定,提高SUV主动安全性;且不同的工况下防侧翻控制具有较强的鲁棒性。

In order to prevent SUV rollover,this paper proposes a linear quadratic regulator(LQR)method optimized by the adaptive multi-population genetic algorithm to generate differential braking.A three-degree-of-freedom vehicle dynamics model is established,including lateral,yaw and roll motions.According to vehicle status parameters,an LQR anti-rollover controller is designed to control the braking force of the four wheels.Then,an adaptive multi-population genetic algorithm is proposed to optimize the LQR parameter matrix.Furthermore,the rollover performance of the SUV is simulated under some typical conditions.The results show that this method can effectively prevent SUV rollover.Compared with the controller with manual parameter adjustment,the LQR anti-rollover controller can more quickly control and stablize the yaw rate,rollover indexes and the roll angle,which improves active safety of the SUV.In addition,the optimized anti-rollover control has good robustness under different conditions.