摘要
针对智能车平滑转弯的问题,文中提出了一种PID控制和预测控制相结合的控制算法。该算法借助预测控制算法的递推关系,有效地结合PID三个参数,实现对PID参数自整定和优化。文中的智能车导向系统选用的是电磁导引差速型转向控制,并用系统辨识中阶跃响应参数辨识的方法对电机建立近似模型,检测智能车在多种干扰信号下跟踪导引线的运行特性。借助MATLAB仿真工具对电机模型进行曲线仿真,仿真结果表明:电机能够充分利用当前已经检测到的路径信息做出转弯响应,并预测估计出下一时刻电机的转向信息,即使在多种干扰信号的情况下电机也能够平滑入弯,实现实时导线的轨迹跟踪。
In allusion to the problems having appeared in intelligent car smooth turning, this thesis proposes a sort of control algorithm combining PID control with predictive control. With the help of recurrence relations of predictive control, this control algorithm effectively combines three parameters of PID and realizes the setting and optimization of PID parameters. And the intelligent car guiding system in this thesis selects and uses electromagnetic guidance differential type steering control and employs the method of step response parameters identification in system identification in establish approxi- mate model for motor. In addition, it tests the operation characteristics of intelligent car tracking the guide lines under the influence of interference signals. The MATLAB simulation tool carries out the curve simulation for motor model. And the result of simulation shows that the motor can make full use of current detected routing information to make turning response and can predict and estimate the turning information in the next moment. Even under the influence of various interference signals, the motor can achieve smooth entry and realize trajectory tracking of real-time wires.
出处
《自动化技术与应用》
2012年第12期49-54,共6页
Techniques of Automation and Applications
关键词
PID控制
预测控制
电磁导引
路径检测
轨迹跟踪
PID control
predictive control
electromagnetic guidance
path detection
trajectory tracking
