Multi-objective Harmony Search Algorithm And Its Application In Traffic Image Segmentation

In recent years,in order to alleviate the issues of energy and environmental,all countries in the world have vigorously promoted the development of electric vehicles.Among the electric vehicles,Distributed Drive Electric Vehicles(DDEV)have obvious advantages in their vehicle structure and control,but the distributed driving methods increase the complexity of the mechanical coupling and the degree of freedom of control of the DDEV,that affect the safety of the steering of the electric vehicle.this paper proposes that use model prediction algorithm to control the stability of the DDEV.This paper mainly studies Model Predictive Control(MPC)of the state space and the Multi-Model control system's model Predictive Control(MMCSMPC)algorithm in the steering stability of DDEV,and the superiority of this control strategy will be proved through simulations.The paper mainly include several aspects:1.This paper briefly analyzes the structure and operating characteristics of the DDEV,and then analysis Dynamic modeling of DDEV under normal conditions,establishing two degrees of freedom and eight degrees of freedom of vehicle dynamics model,its wheel dynamics model and tire dynamics model,according to the model to establish the corresponding dynamic equations,and then analyze determine the conditions of the stability of the vehicle steering.2.Analyze the lateral stable operation of the vehicle according to the model predictive control,using the classical two degree of freedom model as the reference model of the MPC,building a model predictive control system to control the wheel torque of the whole vehicle,and simulation is performed to verify the tracking situation by vehicle sideslip angle and the yaw rate of the out,observe the trajectory of the yaw rate,in the end,comparing with those of the extrinsic search control algorithm(ESC)to determine that the model prediction algorithm is superior to the lateral stability control of the vehicle.3.According to MMCSMPC theory,setting up four kinds of working conditions of the electric vehicle's,they are low speed large rotation angle,low speed small rotation angle,high speed large rotation angle and high speed small rotation angle.A Bayesian recursive method is introduced to analyze the weight of each controller subset,and finally a multi-model predictive control system is built to analyze the steering stability of the entire vehicle under many working conditions.