基于模糊自适应PI控制的智能车的设计与研究

The design and research on smart car based on fuzzy adaptive PI control

为实现智能车自动寻迹,研制一种基于汽车模型为硬件平台的智能车系统.传统PI控制的参数固定,难满足模型沿指定路径行驶的智能化要求;而模糊自适应PI控制具有控制精度高,控制灵活且适应性强的优点,可以精确、稳定的控制车速.路径信息采集模块将摄像头采集的道路信息传送至微处理器,微处理器输出合适控制量对舵机进行方向控制,同时综合编码器将测得的速度反馈给微处理器,采用模糊PI控制对智能车直流电机进行速度控制,该方案可以使智能车快速稳定的沿指定路径行驶.

In order to realize smart car＇s automatic tracing, a smart car system with car model as the hardware platform was developed. The parameters of traditional PI control are fixed, so that it is difficult to meet the requirement of the model driving along the path intelligence;while adaptive fuzzy PI control enjoys the advantages of high control precision, flexible control and strong adaptability, which can control the speed of the car accurately and stably. Route information collection module transfers the route infor- mation which collected by the camera to microprocessor, then the microprocessor outputs appropriate controlled quantity to control the direction of the steering engine. Combined with the speed feedback measured by encoder,the microprocessor adopts fuzzy PI control to adjust the speed of smart car＇s DC motor, this scheme can improve the speed of the smart car and enhance the stability.