摘要
选取车辆当前位姿和参考位姿来构造车辆的动态位姿误差,建立车辆路径跟踪闭环控制系统的Simulink仿真模型,并设计了模糊自适应PID控制器,利用模糊推理的方法,对PID控制器的参数进行自动调整。利用常规PID和模糊自适应PID控制算法分别进行仿真实验。仿真结果表明,模糊自适应PID改善了控制器的动态性能且具有较好的自适应能力。
In this paper, current and reference posture to develop the dynamic posture error of IV were selected, and simulink simulation model of IV has been constructed to lane following closed loop control system by the adopted posture error. Then fuzzy adaptive PID controller is designed. The parameters of PID controller are adjusted automatically by using fuzzy reasoning method, The simulation results, which are made respectively by using conventional PID and fuzzy adaptive PID control algorithms, show fuzzy adaptive PID has improved dynamic performance of controller and possesses preferable adaptive capacity.
出处
《专用汽车》
2011年第2期68-71,共4页
Special Purpose Vehicle
