基于增量式PID智能车调速系统的设计

The Intelligent Car Speed Regulation System Based on the Incremental PID

为提高智能小车适应不同道路的能力和速度响应,设计合理电机驱动电路和选择高效速度控制策略显得尤为重要。基于增量式PID的调速系统设计了一套自动信息采集、道路分析、控制策略选择的系统,着重分析了增量式PID算法调速的性能,阐述了增量式PID参数整定的方法和过程。通过实际的测试得到闭环控制后电机的调速曲线。试验结果表明,采用增量式PID控制算法,小车运动的速度稳定性相比采用开环控制得到很大的提高,智能车驱动电机的控制更流畅,电机的响应速度更加迅速,智能车的调速系统的设计达到了要求。

In order to improve the ability of intelligent cars to adapt to different roads and speed response,the motor drive circuit design and the selection of efficient rate controlling strategy are particularly important.Based on the incremental PID rate controlling system,we developed a set of automatic system of information-collecting,road analyzing,and the strategy-controlling.The selected system,in which the speed performance of incremental PID algorithm was emphatically analyzed and incremental PID parameter setting method and the process,was presented.The closed-loop control of the motor speed curve was obtained from the tests.Comparing this control algorithm with the open-loop control,we found that the stability of the car movement has been greatly improved.The intelligent car drive is smoother,and the responding speed is quicker,which realizes the intelligent control of motor speed.