基于双线性变换法的智能车数字控制器设计

A Design of Digital Controller of Smart Car Based on Bilinear Transformation

为了使智能车更稳定地行驶在跑道上,引入了PID算法以增加速度和角度的控制精度,使小车更快更准地到达既定参数。在传统的PID算法中通常使用后向差分法来实现从连续化数字控制器到离散化的转换,这种方法精度低且不能保证相同的频率响应。文中引入双线性变换法来实现离散化过程,实验证明,该方法变换简单、精度更高,且可以使小车更加稳定快速地在不同轨道上行驶。

PID algorithm is introduced to improve the precision of the control of the speed the angle for the car to achieve planned parameters more rapidly and stably. In traditional PID algorithms, the backward difference method is used to make the continuous digital controller turn into a discrete one, which has poor accuracy and cannot guarantee the same frequency response. The introduction of the bilinear transformation method to accomplish this process proves more simple and accurate, and the experiment shows that the smart car can run more stably and rapidly on different roads.