摘要
针对摩托车制动时车轮抱死引起的侧翻、侧滑问题,提出一种基于鲸鱼优化算法的摩托车防抱死制动PID控制方法。首先对摩托车单轮模型进行了动力学分析,分析了滑移模型、轮胎—路面模型和液压制动模型,以及用于ABS控制的PID控制器模型的数学公式。然后,针对PID控制参数难以整定的问题,引入了鲸鱼优化算法对PID参数进行优化整定。最后,以某国产摩托车为例,搭建整车动力学模型及联合仿真模型,将优化PID控制与无ABS和未优化PID控制进行了对比分析。结果表明,优化PID控制在摩托车制动过程中具有良好的控制效果,能防止车轮抱死,提高了制动的安全性。
A motorcycle anti-lock braking system(ABS)PID control method based on whale optimization algorithm is proposed to address the issue of side flipping and sliding caused by wheel lock during motorcycle braking.Firstly,the dynamics analysis of the motorcycle single-wheel model is performed,including the analysis of slip model,tire-road model,hydraulic braking model,and the mathematical formulas for the PID controller model used in ABS control.Secondly,to address the difficulty of tuning PID control parameters,the whale optimization algorithm is introduced to optimize and tune the PID parameters.Finally,taking a domestic motorcycle as an example,a whole-vehicle dynamics model and a co-simulation model are constructed,and the optimized PID control is compared and analyzed against no ABS and non-optimized PID control.The results show that the optimized PID control exhibits excellent performance in motorcycle braking,preventing wheel lock and improving braking safety.
作者
屈焘
杨威朋
王鑫
Qu Tao;Yang Weipeng;Wang Xin(School of Mechanical and Vehicle Engineering,Chongqing Jiaotong University)
出处
《摩托车技术》
2023年第2期35-41,共7页
Motorcycle Technology
关键词
摩托车
防抱死制动系统
PID
鲸鱼优化算法
Motorcycle
Anti-lock braking system
PID
Whale optimization algorithm
