Evolutionary Tuning Method for PID Controller Parameters of a Cruise Control System Using Metamodeling

Table 1

Cruise control system variables and values used for simulation.

Variables	Description	Values
𝜏	Time constant (s)	0.2
𝑇	Real time (s)	1
𝑀	Mass of the vehicle (kg)	1500
𝐹𝑑min	Drive force minimum limit (N)	−3500
𝐹𝑑max	Drive force maximum limit (N)	+3500
𝐹𝑎	Air drag force (N)	Variable
𝐹𝑔	Gravitational force (N)	Variable
𝐶1	Constant related to engine block (no unit)	743
𝐶𝑎	Constant related to air-drag force (Nm^−1s^2)	1.19
𝐺	Constant related to gravitational force (ms^−2)	9.81
𝑣𝑤	Variable related to wind disturbance	Variable
𝑈	Variable related to desired speed	Variable
𝜃	Variable related to gravity disturbance	Variable