The invention discloses an intelligent electric vehicle path tracking control method based on a Q learning genetic algorithm, and relates to the field of intelligent electric vehicle path tracking control. A path tracking model is established according to a dynamic motion mechanism of a vehicle; secondly, considering the slip state, trajectory tracking error and yaw stability of the four wheels, redefining the output of the path tracking system, and decomposing the path tracking system into an input and output subsystem and a zero dynamic subsystem through input and output linearization; a self-adaptive generalized sliding-mode control method is provided for the input and output subsystem, so that the state of the input and output subsystem quickly follows an ideal value of the input and output subsystem; stable conditions of a zero-dynamic subsystem are obtained through stability analysis, and a controller parameter design method based on Q learning genetic algorithm optimization is provided on the basis, so that asymptotic stability of an intelligent electric vehicle path tracking control system near a balance point is achieved. According to the method, the path tracking capability of the intelligent electric vehicle is effectively improved, and the dynamic stability of the intelligent electric vehicle under the limit working condition is ensured.
基于Q学习遗传算法的智能电动汽车路径跟踪控制方法涉及智能电动汽车路径跟踪控制领域,其首先根据车辆的动力学运动机理建立路径跟踪模型;然后考虑四个车轮的滑转状态、轨迹跟踪误差及横摆稳定性,重新定义路径跟踪系统的输出,通过输入输出线性化将路径跟踪系统分解输入输出子系统和零动态子系统;对输入输出子系统提出自适应广义滑模控制方法,使输入输出子系统的状态快速跟随其理想值;通过稳定性分析获取零动态子系统稳定的条件,并在此基础上提出基于Q学习遗传算法优化的控制器参数设计方法,以实现智能电动汽车路径跟踪控制系统在平衡点附近的渐近稳定。本发明有效提高了智能电动汽车的路径跟踪能力,保证其在极限工况下的动力学稳定性。
Intelligent electric vehicle path tracking control method based on Q learning genetic algorithm
基于Q学习遗传算法的智能电动汽车路径跟踪控制方法
12.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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