EPS系统粒子群优化PID控制的研究

为了改善常规PID算法在电动助力转向系统(EPS)控制中的不足,提高系统控制的精度、稳定性和抗干扰能力,采用粒子群算法(PSO)对PID控制器进行优化.根据EPS系统结构和动力学特性,建立了EPS系统数学模型.电机采用电流控制法,并以助力特性曲线中理想电流值与电机电流实际输出值的偏差作为PID控制器的输入.利用MATLAB平台建立EPS系统PID控制的整车模型,分析研究粒子群算法,并根据PSO算法优化PID控制器的参数.仿真结果表明:与常规PID控制相比,采用粒子群优化的PID控制,系统输出响应更平稳,抗干扰能力更强,鲁棒性好,控制效果更优.

Research on EPS System based on Particle Swarm Optimization PID Control

In order to improve the accuracy,the stability and the anti-interference ability of its control in an Electric Power Steering(EPS) system,a Particle Swarm Optimization(PSO) is used to optimize a controller with the conventional PID algorithm.According to the structure and the dynamic characteristics,a math model of the EPS system is established.The motor of the system is controlled by electric current,and the deviation of the current between the ideal value from the assistance characteristics curve and actual output of the motor is as the input of the PID controller.A vehicle model with the EPS system controlled by PID is built in MATLAB.The algorithm of the Particle Swarm Optimization is studied and the parameter of the PID controller is optimized.The simulation results show that the optimized controller is of better control effect comparing with conventional one.