计算机工程与应用 ›› 2009, Vol. 45 ›› Issue (32): 209-211.DOI: 10.3778/j.issn.1002-8331.2009.32.066

• 工程与应用 • 上一篇    下一篇

双舵机模糊控制在智能车控制中的应用

游林儒,胡庆华   

  1. 华南理工大学 自动化科学与工程学院,广州 510640
  • 收稿日期:2008-12-04 修回日期:2009-02-17 出版日期:2009-11-11 发布日期:2009-11-11
  • 通讯作者: 游林儒

Fuzzy control in smart car system with dual steering gears

YOU Lin-ru,HU Qing-hua   

  1. College of Automation and Science,South China University of Technology,Guangzhou 510640,China
  • Received:2008-12-04 Revised:2009-02-17 Online:2009-11-11 Published:2009-11-11
  • Contact: YOU Lin-ru

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。

关键词: 智能车, 双舵机, 转向控制, 模糊控制

Abstract: 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.

Key words: smart car, dual steering gears, steering control, fuzzy control

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