轮式机器人模糊神经网络建模与模糊遗传PID转向控制的研究

Direction Control of Automated Wheel Vehicle Using Fuzzy Neural Network Model and GA PID Control Method

针对数学模型复杂的轮式机器人的转向控制问题 ,提出了一种先用模糊神经网络建模 ,再用模糊遗传PID转向控制的方法。模糊遗传PID控制算法简单 ,直观性好 ,容易理解 ,能直观地判断PID参数是否有效。控制方法所需的数据完全来源于实验。经过对车体转向控制的仿真研究 ,由仿真结果可看出 ,仿真控制效果良好。控制方法能适应各种不同速度、不同转向角度等参数变化 ,在实际中应用实验数据就能控制 。

To research direction control of automated vehicle, which has very complicated mathematic model,at first make vehicle's fuzzy neural network model ,then use GA PID control method to control vehicle's turn degree. The method is easy to understand ,we can just distinguish the PID parameters whether or not are correct in reality.All datas come from experiments?Through the emulation experiments, the results of control are satisfied. This GA PID control method can adapt to different velocity?turn degree. The control method is simple and significant in reality.