模糊自适应PID的汽车驾驶机器人的车速控制及概要.pdfVIP

学兔兔 汽 车 工 程 2012年(第34卷)第6期 Automotive Engineering 2012102 基于模糊自适应PID的汽车驾驶机器人的车速控制木 陈 刚 ，张为公 (1．南京理工大学机械工程学院，南京 210094；2．东南大学仪器科学与工程学院，南京 210096) [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。 关键词：汽车试验；驾驶机器人；车速控制；自适应模糊PID控制 Speed Control of Vehicle Robot Driver Based on Adaptive Fuzzy PID Control Chen Gang Zhang W eigong 1．School ofMechanical Engineering， 彬ng University ofScience and Technology， ng 210094； 2．School of M Science and Engineering，Southeast University，№ ng 210096 [Abstract] In view of the problems of large speed fluctuations and the tuning difficulty of regulator parame- ters when conventional PID control is used in robot driver，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— eate 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． Keywords：vehicle test；robot dri