摘要
针对地下无人车辆在巷道环境中的无人驾驶问题,在现有改进模糊PID算法的基础上,设计了改进PID串级算法。将改进模糊PID算法作为避障算法引入航向角控制器和横向偏差控制器,控制输出转向角。输出转向角经过增量式数字PID算法后输出给转向液压系统比例电磁阀控制车辆转向。实验结果表明改进PID串级算法在响应速度、稳态误差等方面相比于多变量PID算法有较大优势。
Aiming at the autonomous driving problem of underground unmanned vehicles in the roadway environment,an improved PID cascade algorithm was designed based on the improved fuzzy PID algorithm.The improved fuzzy PID algorithm was used as obstacle avoidance algorithm in the .steering angle controller and lateral deviation controller to control output steering angle.These two controller output steering angle,then the steering angle was calculated by the incremental digital PID algorithm and output to the proportional electromagnetic valve to control the steering of the vehicle.Experimental results indicated that the improved PID cascade algorithm had great advantages over the multivariable PID algorithm in terms of response speed and steady-state error.
作者
龙智卓
郭鑫
姜勇
石峰
李恒通
LONG Zhizhuo;GUO Xin;JIANG Yong;SHI Feng;LI Hengtong(BGRIMM Technology Group,Beijing 100160,China)
出处
《有色金属（矿山部分）》
2018年第6期46-49,共4页
NONFERROUS METALS(Mining Section）
基金
北京市科委计划项目(Z171100000917009)
关键词
地下无人车辆
无人驾驶
改进PID串级算法
underground unmanned vehicle
autonomous driving
improved PID cascade algorithm
