改进天鹰算法优化整车ABS的模糊PID控制
田闯,黄鹤,杨澜,高涛,王会峰
Improved Aquila algorithm to optimize fuzzy PID control of vehicle ABS
Chuang TIAN,He HUANG,Lan YANG,Tao GAO,Huifeng WANG
表 3
模糊控制规则
Tab.3
Fuzzy control rules
E
k
p
,
k
i
,
k
d
R
EC
=
NB
R
EC
=
NM
R
EC
=
NS
R
EC
=
Z
R
EC
=
PS
R
EC
=
PM
R
EC
=
PB
NB
B,Z,S
B,Z,M
B,Z,B
B,Z,B
Z,Z,M
Z,Z,M
Z,Z,S
NM
B,S,M
M,S,M
M,Z,B
S,Z,B
Z,S,M
Z,S,M
Z,S,M
NS
M,M,Z
M,B,S
S,M,S
Z,B,S
S,M,S
S,M,S
S,M,Z
Z
M,B,Z
S,B,Z
Z,B,S
Z,B,Z
S,B,Z
S,B,Z
M,B,Z
PS
S,M,Z
S,B,S
S,M,S
Z,B,S
M,M,S
M,M,S
M,M,Z
PM
S,S,M
Z,S,M
S,Z,B
S,Z,B
M,S,M
M,S,M
B,S,M
PB
Z,Z,S
Z,Z,M
B,Z,B
B,Z,B
B,Z,M
B,Z,M
B,Z,S