摘要
小车寻迹过程中由于路况不同,其数学模型的参数会不断地发生变化,这使得以往的传统PID全局参数的整定极为困难。因此提出了一种基于模糊PID的控制策略。通过模糊控制整定PID的3个参数的变化量,从而根据路况的不同,实现PID三个参数的实时调节。同时应用仿真软件对系统的数学模型分别进行了传统PID和模糊PID的仿真。最后,在以飞思卡尔车模为基础的试验平台上进行模拟试验,验证了仿真结果和理论的准确性,以及模糊PID相比于传统PID的优越性。
Due to the different road conditions during the vehicle tracing process,the parameters of the mathematical model will change constantly,which make it difficult to set the global value for this parameters in traditional PID model.To solve the problem,fuzzy PID based control strategy is proposed.In the strategy,the values of three parameters are adjusted in real time according to the road condition,through the variation of the three parameter values.At the same time,the traditional PID and fuzzy PID are simulated by the simulation software.At last,simulated experiments based on Freescale model are carried out to verify accuracy as well as the superiority of fuzzy PID of the simulation results.
出处
《工业仪表与自动化装置》
2017年第4期92-96,100,共6页
Industrial Instrumentation & Automation
基金
甘肃省自然科学基金项目(1606RJZA181)
关键词
小车
模糊
自主寻迹
仿真
vehicle
fuzzy
autonomous tracing
simulation
