摘要
建立了自动寻迹运输车舵轮控制系统的数学模型,设计了一种基于模糊PID控制的运输车方向控制系统。文中较详细地分析了控制系统数学模型的简化、模糊PID控制器的设计过程以及加模糊PID算法后系统的阶跃响应,同时对加控制算法前后系统的阶跃响应进行了对比仿真研究。仿真结果表明,加入模糊PID算法后系统的稳定性和快速性等动态性能得到了较好地改善。将仿真得到的数据应用到样机的试验中,发现该运输小车的方向控制系统能很好地满足其在前进过程中对方向调节的快速响应,样机系统具有较好的动态性能。
A mathematical model of the control system for the steering-wheel of the automatic tracing transporter is established in the paper,with a direction control system of vehicles based on the fuzzy PID control designed.A more detailed analysis of the simplification of the mathematical model of the control system,the design process of the fuzzy PID controller and the system＇s step response after the fuzzy PID algorithm is added are analyzed in detail.In the meanwhile,a comparison-simulation study is made of the system＇s step response before and after the fuzzy PID algorithm is added.The results of the simulation show that the stability and the quick dynamic performance of the control system are greatly improved after the fuzzy PID algorithm is added.The simulation data having been applied to the test of the prototype,we find the direction control system of the transporter can meet the requirements in the quick response to adjusting the direction in the course of running,and the prototype system is satisfactory in dynamic performance.
出处
《国防交通工程与技术》
2010年第6期48-52,共5页
Traffic Engineering and Technology for National Defence
关键词
模糊PID控制
自动寻迹
数学模型
系统仿真
fuzzy PID control
automatic tracing
mathematical model
systematicsimulation
