摘要
针对采用无刷直流电机的智能车差速转向问题,提出了一种基于灰色PID控制器的智能车差速转向控制系统。建立了差速转弯模型和动力学分析,在灰色系统理论之上,将无刷直流电机的数学模型区别成不确定部分和确定部分两部分,对于不确定的部分搭建了灰色控制模型,使用了灰色预估补偿,以此得到了较大程度上白化后的控制系统灰量;对无刷直流电机灰色PID控制调速器进行了仿真,将其与常规PID进行了比较。研究结果表明,无刷直流电机的调速系统采用灰色PID控制算法后,受到电机参数改变和负载变化的影响很小,转速及转矩具备更高的鲁棒性及控制精度,体现了良好的静态性能和动态性能。新式的智能车无刷直流电机差速转向控制系统使得智能车转弯系统结构简单、环境适应性强,较好地实现了给定速度参考模型的自适应跟踪。
Aiming at the problem of differential steering of intelligent vehicle which adopts brushless DC motor, an intelligent vehicle differential steering controlling system based on grey PID controller was proposed. On basis of the grey system theory, a differential steering model and kinetic analysis were established to divide the mathematical model of the brnshless DC motor into two pans： the uncertain part and the determined part. As to the uncertain part, a grey controlling model was established and the grey predictive compensation was used, so as to get the ash content of the controlling system after a relatively large degree of whitening. In addition, simulation of the brnshless DC motor grey PID control governor was carried out and comparison with common PID was made. The results indicate that after adopting grey PID control algorithm, the impact of the motor parameters change and load change on the speed governing system of brushless DC motor becomes very small. The rotating speed and torque are equipped with higher robustness and control precision, reflecting good static performance and dynamic performance, after adopting intelligent vehiche differential steering controlling system. The steering system of intelligent vehicle has simple structure and strong adaptability to the environment. It better achieves the self-adaptive tracking of the given speed reference model.
出处
《机电工程》
CAS
2015年第2期240-245,共6页
Journal of Mechanical & Electrical Engineering
关键词
无刷直流电机
差速转向
灰色PID
PID控制
brushless direct current motor
differential steering
grey PID
PID control
