基于模糊PID算法的三轮智能车应用

Application of Three wheeled Intelligent Vehicle Based on Fuzzy PIDAlgorithm

针对实际的三轮智能车运动过程以及停止时的稳定性问题提出一种解决方案。将模糊控制理论与传统PID控制方法相结合,同时利用陀螺仪和编码器得到的定位信息,达到对三轮智能车快速稳定高效地运动控制。通过硬件电路地设计制板焊接和机械结构地制图加工装配,得到三轮智能小车硬件结构;结合对STM32控制芯片的嵌入式程序编写,得到三轮智能车的控制核心。通过计算机仿真和实际三轮智能车运动实验数据的分析,验证该算法的实用性以及准确性,速度控制精度达到1cm/s,定位精度达到5cm。

A solution is proposed for the stability issues during the actual motion process and stopping of a three wheeled intelligent vehicle.Combining fuzzy control theory with traditional PID control methods,and utilizing the positioning information obtained from gyroscopes and encoders,to achieve fast,stable,and efficient motion control of three wheeled intelligent vehicles.By designing board welding through hardware circuits and drawing,processing,and assembling mechanical structures,the hardware structure of a three wheeled intelligent car is obtained;By combining the embedded programming of the STM32control chip,the control core of the three wheeled intelligent vehicle is obtained.Through computer simulation and analysis of actual three wheel intelligent vehicle motion experimental data,the practicality and accuracy of the algorithm are verified.The speed control accuracy reaches 1cm/s,and the positioning accuracy reaches 5cm.