摘要
针对汽车驾驶机器人采用常规PID控制时车速波动大、调节器参数调整困难等问题,提出了一种基于模糊自适应PID的汽车驾驶机器人车速控制方法。首先建立了汽车驾驶机器人多机械手协调控制模型,然后在此基础上设计了一种驾驶机器人模糊自适应PID车速控制器,实现了驾驶机器人对给定循环行驶工况的车速跟踪。试验结果表明,与常规PID控制方法相比,采用所提出的方法车速跟踪精度明显改善,车速跟踪误差在±2km/h范围内,满足国家汽车试验标准的要求,保证汽车试验数据准确有效。
In view of the problems of large speed ters when conventional PID control is used in robot driver, fluctuations and the tuning difficulty of regulator parame- a new speed control method for vehicle robot driver based on adaptive fuzzy PID control is proposed in this paper. Specifically, the model for the coordinated control of multi- ple manipulators in vehicle robot driver is established first. Then based on this, an adaptive fuzzy PID speed con- troller for vehicle robot driver is designed to realize the speed tracking of given driving cycle. The results of test indi- cate that compared with conventional PID control, the proposed method can greatly improve the accuracy of speed tracking with a tracking error within the range of _＋ 2km/h, meeting the requirements of national vehicle test stand- ards and ensuring the accuracy and validity of vehicle test data.
出处
《汽车工程》
EI
CSCD
北大核心
2012年第6期511-516,共6页
Automotive Engineering
基金
国家自然科学基金项目(51008143)
中国博士后科学基金项目(2011M500922)
南京理工大学自主科研专项计划项目(2011YBXM43)资助
