驾驶机器人油门机械腿模糊自整定PID控制方法

摘要

In order to realize the smooth,accurate and rapid control of the vehicle robot driver's accelerator leg,a accelerator leg control method based on fuzzy-adaptive PID was proposed. Introducing the structure of the vehicle robot driver's accelerator leg. Confirming the membership functions of inputs and outputs in the fuzzy controller,and make the fuzzy control rules. Then the fuzzy PID controlling model of the proposed system was verified with Simulink,and test the automatic drive of vehicles by the vehicle robot driver. The results showed that the fuzzy-adaptive PID control can achieve an ideal effect,has small overshoot,rapid response and good robustness. Furthermore,the proposed method could realize the smooth,accurate and rapid control of the vehicle robot driver's accelerator leg and achieve the purpose of speed tracking.%为了实现驾驶机器人油门机械腿控制的平滑、准确、迅速性,提出了一种油门机械腿模糊自整定PID控制方法.介绍了驾驶机器人油门机械腿的结构.在模糊控制器中确定输入量与输出量的隶属度函数,并且制定了模糊控制规则.利用Simulink进行仿真,并且通过驾驶机器人对车辆进行自动驾驶试验,结果表明油门机械腿模糊自整定PID控制方法具有超调小,响应迅速,鲁棒性强的优点,能够平滑、准确、快速地控制油门机械腿,达到跟踪车速的目的.