Grey wolf optimizer-based PID controller design for an automobile cruise control system

Abstract

The cruise control systems are designed to maintain a desired speed of the vehicle and they can contribute to the comfort and fuel economy of the vehicle. Although PID controllers are popular for controlling the speed of the vehicle, their performance is highly sensitive to the choice of parameters. This paper presents the application of the Grey Wolf Optimizer algorithm for the optimization of PID controllers of a widely used cruise control system of an automobile by optimizing the Integral of Time-Weighted Squared Error (ITSE). The performance of the derived PID controller is analyzed in the time and frequency domains and the results are compared with the metaheuristic approaches available in the literature for the same plant model. The results show that the GWO optimized controller provides a stable closed-loop response and comparable performance in the time and frequency domains which confirms the applicability of GWO for the optimization of PID controllers of the cruise control system of an automobile.

Keywords

• Cruise control system
• PID control
• Optimization
• Grey Wolf Optimizer

Otomobil Hız Sabitleme Sistemi için Gri Kurt Optimizasyon Algoritması Tabanlı PID Kontrolcü Tasarımı

Abstract

Hız sabitleme sistemleri, modern otomobillerde yol güvenliğini, sürücü konforunu ve yakıt ekonomisini artırmak amacıyla tasarlanmıştır. PID kontrolcüler, araç hız kontrolü için endüstride yaygın olarak kullanılmakla birlikte, parametrelerinin dikkatli biçimde ayarlanmasını gerektirir. Bu çalışmada, doğadan esinlenilmiş bir meta-sezgisel algoritma olan Gri Kurt Optimizasyonu (GWO) kullanılarak optimum kontrol kazançları elde edilmiştir. Hata değerlerini zaman ilerledikçe daha fazla ağırlıklandırarak hızlı bir yanıt elde etmek ve hataları zamanla azaltmak amacıyla amaç fonksiyonu olarak Zaman Ağırlıklı Kare Hata İntegrali (ITSE) seçilmiştir. Optimum parametreleri belirlenen kontrolcünün performansı, aynı sistem modelini kullanan ve literatürde yer alan güncel optimizasyon algoritmalarıyla karşılaştırılmıştır. Geçici rejim yanıtı ölçütleri ve frekans yanıtı özellikleri birlikte değerlendirildiğinde, GWO’nun araç hız sabitleme sistemlerinde kontrol optimizasyonu için uygulanabilir bir alternatif olduğu görülmüştür. Önerilen yöntem, hız regülasyonu açısından tatmin edici bir performans sağlamaktadır. Araştırmaya ait sonuçlar ve performans indisleri tablolar ve şekiller halinde sunulmuştur.

Keywords

• hız sabitleme sistemi
• PID kontrol
• optimizasyon
• Gri Kurt Optimizasyon Algoritması

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