Yaw moment control strategy of motorized wheel dump truck based on PSO

摘要

When driving on the road with greatly different left and right adhesion coefficients, the motorized wheel dump truck is prone to braking sideslip. The braking force distribution strategy adopts the PID neural network controller whose parameters are optimized by Particle Swarm Optimization (PSO). The system automatically adjusts the braking forces of the left and right wheels according to yaw velocity deviation values. The simulation analysis shows that the system can maintain the stability during the braking of the vehicle, and the maximum sideslip distance decreases from 5 m to 0.17m by the use of the braking force distribution strategy.