摘要
在智能车系统的设计中,转向控制直接影响着智能车的性能,若采用普通的PID控制算法,前车轮在不断的偏转过程中连续性并不是很理想。提出了模糊控制算法,并且在硬件上采用双舵机分别实时地控制每一个前轮的转角,有效地解决了系统的快速性与稳态误差之间的矛盾。大量的实验结果表明,该方法可以明显地提高智能车系统的性能。
In the design of the smart car system,the performance of smart car is directly determined by steering control.And the deflection continuity of the front wheels can＇t be achieved ideally by the ordinary PID control algorithm.Thus,fuzzy control algorithm is put forward through the continuous exploration.In addition,at the level of hardware,dual steering gears are introduced to control every steering angle of the front wheels separately and continuously,with the view of an effective solution for the conflict between the rapidity and steady-state error of the system.A large number of experimental results prove that such method can significantly improve the performance of smart car system.
出处
《计算机工程与应用》
CSCD
北大核心
2009年第32期209-211,共3页
Computer Engineering and Applications
关键词
智能车
双舵机
转向控制
模糊控制
smart car
dual steering gears
steering control
fuzzy control
