| Energy-saving, environmental protection and safety are the three main themes of themodern automobile industry. Facing the energy and environment problem, vehiclesenergy-saving, environmental protection are important research direction worldwide. Theelectric automobile is one of the most popular areas of concern. Simultaneously, thevehicle safety is deeply concerned, vehicle handling stability is one of the most importantcontent.Experience has proved that the four wheel independent steering technology canimprove the vehicle maneuvering flexibility at low-speed, improve handling and stabilityat high-speed. Currently many new control methods are applied to improve vehicle safety.Mostly the actual control system is the multi-objective problem, and these goals are oftenin conflict. In this paper, based on the multi-objective algorithm theory and Paretodominant definition to design the controller, took such simulation modeling and analysisto verify the validity of this method.Firstly, established four-wheel independent steering vehicle model, and according tothe multi objective genetic algorithm change the continuous system into discrete system.Secondly, established the two objective functions. Application of multi-objectivegenetic algorithm in two layer to design the controller. The first layer is compatibleoptimization layer, this layer to obtain multi-objective control area and the Pareto optimalfront. The second layer is compatible control layer, through optimizing the most importantindicators, make the first layer selected interval target as aontraint to design the controller.Not only can achieve the target of the first layer, but also better achieve the primary goal.Finally, established the vehicle simulation model, added the controller to the model tostudy the stability of the vehicle, then carried out the road tests. In order to verify theaccuracy of the simulation model as well as the stability and rapidity of the controller. |
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