智能车电磁检测及控制算法的研究

在智能车传统PID、PD控制的基础上进行改进,提出了一种更为稳定快速的循迹控制方法。智能车的方向控制和速度控制都具有非线性、大滞后的特点,传统的控制方法存在着响应时间不够及稳态误差大的缺点。通过电磁传感器的合理设计,对路径信息和车体状态进行检测,并在此基础上引入基于模糊控制的变参数PD控制和变结构控制。实验结果表明,与传统方法相比,智能车运行的稳定性和快速性都得到了很大的提高。

Control algorithm research on smart car based on electromagnetic testing

A more steady and rapid tracking control method for smart car based on traditional PID,PD control was propsed.Directional control and speed control of smart car has characteristics of nonlinear,long delay.Therefore,traditional control methods have long response time and large steady-state error.Through the rational design of electromagnetic sensors,it detected the information of wire and the condition of model car.Then,introducted variable parameter PD control and variable structure control based on fuzzy control.Experimental results show that smart car runs more stably and the speed has been greatly improved compared with traditional methods.