基于Fuzzy-PID智能车舵机控制系统

Intelligent vehicle steering control system based on fuzzy-PID

为提高智能车舵机的响应速度,分析了智能车控制系统的特点以及应用常规模糊控制器进行控制的局限性,提出了模糊PID控制算法.推导出模糊PID控制器消除稳态误差的原理,并介绍了模糊PID控制器的设计方法.实验结果表明,模糊PID控制器既能消除稳态误差,又有很强的鲁棒性,对于具有非线性和迟滞性特点的智能车舵机控制系统具有良好的控制性能.

To increase response speed of the intelligent automobile,fuzzy-PID control algorithm is proposed by analyzing the characteristics of smart car and limitation of a conventional fuzzy controller.The principle how fuzzy-PID controller eliminates the steady-state error is deduced.The design method of the fuzzy-PID controller is introduced.Experiments showed that the fuzzy-PID controller can eliminate the steady-state error and has good robustness.It has good performance in smart car system and has the character of nonlinear and hysterics.