一种标靶自动控制调整方法的设计与仿真

Design and Simulation of an Automatic Target Control and Adjustment Method

针对标靶横向偏转导致的靶车稳态失衡现象,提出基于变论域模糊PID控制的标靶自动调整方法。利用白噪声滤波算法提取路面激励,通过数学公式表达将靶车系统分为上下两部分,分别作横向半车分析,构建靶车系统动力学微分方程,计算出标靶倾角;将直流电机系统中的控制器作为控制主体,利用变论域模糊PID控制方法,设计控制器整体结构,包括各类型接口与知识库等;将偏差与偏差变化率当作输入信号,分情况设定控制参数增量的模糊规则,经过推理获取模糊决策量,采用面积中心法对该决策作清晰映射,得到最终的控制量,即可完成标靶自动调整。仿真结果表明,所提方法响应速度快,且不受路况影响,调整结果均能保证标靶倾角较小。

Aiming at the steady-state imbalance of the target car caused by lateral deflection,this article puts forward a method of automatic target adjustment based on variable universe fuzzy PID control.Firstly,the white noise filtering algorithm was adopted to extract road excitation,and then the target car system was divided into upper and lower parts by mathematical formulas.After that,the two parts were analyzed horizontally by half car.In the meanwhile,the dynamic differential equation of the target car system was constructed,and the target inclination was calculated.Taking the controller in the DC motor system as the main control body,the variable universe fuzzy PID control algorithm was used to design the structure of the controller,including interfaces and knowledge bases.In addition,deviation and deviation change rates were taken as the input signal,and the fuzzy rules of control parameter increment were set according to the situation.Moreover,the fuzzy decision-making quantity was obtained by reasoning.Furthermore,the area center method was used to map the decision clearly and thus to obtain the final control quantity.Finally,the automatic adjustment for targets was finished.Simulation results show that the proposed method has fast response and is not affected by road conditions.In addition,the adjustment results can ensure a smaller target dip angle.