基于模糊PID的智能小车控制算法研究

Control Algorithm Research on Smart Car Based on Fuzzy PID

智能小车自动寻迹过程中,方向控制与速度控制都存在高度非线性的问题。采用模糊PID控制算法,实现了对方向和速度的优化控制,即采用模糊PD算法对智能小车方向进行控制,采用模糊PID算法对速度进行控制。该方案运用于智能车控制系统,克服了传统PID控制的不足,通过模糊规则进行推理决策,实现了PID参数的实时优化。

During the process of smart car＇s automatic searching the way,serious nonlinear problems exist in direction control and speed control.This paper implements the fuzzy PID algorithm,namely we use fuzzy PD algorithm to control the direction and use fuzzy PID algorithm to control the speed.The result shows that some defects of traditional PID control have been overcame.The real optimization of the control parameter of PID controller has been carried out by fuzzy reasoning.