The Design Of Vehicle Controller Based On Artificial Immunization Algorithm

With the development of social economy, more and more people become carowners.Cars bring convenience to the community and the the people.At the same time, traffic accidents also increase rapidly, especially in rear-end accident,leading to tremendous loss for social and economic development and people's lives. Therefore, combined with the practical needs,the thesis study the design of speed tracking controller.PID control is one of the control strategy,which is the first developed.Because of its simple algorithm, robustness and reliability, PID are widely used in industrial process control.The parameters of Conventional PID controller often have bad tuning, poor performance and adaptive poor operating conditions. In recent years, immune algorithm in control applications is increasing.Immune optimization algorithm is a global optimization algorithm,which doesn't need any initial information and can seek the global optimal solution, optimized and efficient way. Immune optimization algorithm for the tuning of PID controller is a feasible option.Combined with artificial immune algorithm ,this theory design an immune PID controller,which is used to the speed tracking control for automatic driving. By immune optimizeation algorithm, the three parameters of PID controller are optimized to realize the automatic adjustment of PID parameters and achieve the speed tracking.Simulation results show that immune PID controller,which combines effectively the immune algorithm with PID controller,not only has a strong adaptability and anti-interference ability in the speed tracking process,but also effectively improves the system stability, improves the steady state and dynamic performance, and shows a very good control effect.Based on the method that immune optimization algorithm adjusts to the parameter of PID controller. an embedded immune PID controller in vehicle speed tracking.On the hardware side, the ICETEK-OMAP3530-Mini intelligent system board is selected. Mini board is OMAP3530 core,which is the latest and high-performance ARMCortex A8 processor, to form a streamlined and completed computer system.Mini board uses a standard interface, which makes it very flexible to extend to connect many PC standard equipment.In terms of software,the process is introduced in detail that embedded real-time system Linux is transplanted in ICETEK-OMAP3530-Mini board.Embedded immune PID controller carried out experiments,and the experimental results show that the algorithm has good work performance and stability, and has a high application value.