摘要
针对履带车辆自动驾驶系统纵向车速控制非线性、时变、响应滞后等问题,提出了在常规PID控制器基础上增加模糊控制器的方法和带有缓冲区结构的油门、制动逻辑切换规则。首先,设计基于专家经验的模糊控制器在线整定PID参数,提高系统的稳定性与精确性;其次,逻辑切换规则根据前一时刻油门、制动器工作状态决策PID参数流向;最后,在车速误差范围内设置缓冲区域,避免了油门、制动器在实际控制过程中频繁切换的问题,实现了对车速的良好控制。利用Matlab/Simulink对速度执行机构仿真模型进行仿真,仿真结果表明,所提方法可以减少系统的超调量,增强系统抗干扰能力,具有一定的鲁棒性。
Aiming at the non-linear, time-varying and response lagging problems in the speed control of automatic driving system for tracked vehicles, a method of adding fuzzy controller on conventional PID controller and a throttle and brake logic switching rules with buffer stmcture were proposed. First of all, a fuzzy controller based on expert experience was designed to set PID parameters online to improve the stability and accuracy of the system. Secondly, by using the logic switching role, the flow of PID parameters was determined according to the working status of the accelerator and brake at the previous moment. Finally, the buffer range was set to avoid frequent switching between throttle and brake in the actual control process, achieving a good control of the speed. The simulation model of speed actuator was simulated by Matlab/Simulink. The simulation results show that the proposed method can reduce system overshoot and enhance the anti-interference ability of the system with a certain degree of robustness.
作者
赵伟
赵汗青
ZHAO Wei;ZHAO Hanqing(Graduate Team,Army Academy of Armoured Forces,Beijing 100072,China)
出处
《计算机应用》
CSCD
北大核心
2018年第A01期63-66,共4页
journal of Computer Applications
关键词
履带车
自动驾驶系统
模糊PID控制
切换逻辑
tracked vehicle
automatic driving system
fuzzy PID control
switching logic
