外文翻譯智能小車控制中模糊PID控制的實現(xiàn)

1、安徽理工大學(xué)自動化專業(yè)本科畢業(yè)設(shè)計英文翻譯學(xué)院(部)：電氣與信息工程學(xué)院專業(yè)班級： 自動化0 班 學(xué)生姓名： x x x 指導(dǎo)教師： 講師 年 月 日implementation of fuzzy-pid in smart car controlabstractan unmanued smart car control system and the fuzzy-pid control algorithm are produced . a design scheme of fuzzy-pid controller is put forward. the simulation analysis f

2、rom matlab indicated that the dynamic performance of fuzzy-pid control algorithm is better than that of usual pid. experimental result of smart car show that it can follow the black guide line well and fast-stable complete running the whole trip.keywords fuzzy-pid; smart car; fuzzy controller; fuzzy

3、 control1 introductionin recent years, many countries are developing unmanned vehicle technology. this gives birth to many new theories and applied technology. reference1 presents the theory of turn ahead which uses real-time monitoring speed to change the turn-in point dynamically, then it implemen

4、ts the control strategy to achieve a perfect characteristics of steering. reference2 uses edge detection algorithm to extract track information and adopt p control. reference3 proposes a efficient, good anti-jamming and adaptive image processing dynamic algorithm which effectively solves the out of

5、track caused by the changes of ambient light and track. reference4 reconstructs spatial relationships of track and calibrates camera using nonlinear optimization, then it can measure lateral deviation accurately. the above improve vehicle performance in one way but they are all lack of characteristi

6、cs of car movement and based on lots of experiments. a fuzzy-pid control algorithm and a design scheme of fuzzy-pid controller are put forward in this paper. at last, the experimental result is given out to prove the validity of fuzzy-pid.2 hardware system designto implement the design of fuzzy-pid

7、algorithm, its necessary to design a hardware system of smart car. smart car would have a smart control unite which contain detection of guide line, steering angle value, speed value and so on. see details in fig.1.fig.1 the functional block diagram of smart car3 basic principle of fuzzy-pidits diff

8、icult for usual pid control algorithm to achieve the best effect. because, the parameters kp, ki, kd cant adjust to different object or different state of the same object. fuzzy control is based on fuzzy set and fuzzy logic. without precise mathematical model it can determine the size of controlled

9、variable according the rule table organized by experience. in general, fuzzy control input variables are based on system error e and error change ec, which is similar to pd control. such control might have a good dynamic characteristic, but the static performance is not satisfactory.combining fuzzy

10、control and pid control, this would make a system have both flexibility-adaptablity of fuzzy control and high accuracy of pid control.fig.2 shows the structure diagram of fuzzy-pid control system, in which fuzzy controller is responsible for selecting a different pid parameter to improve the local p

11、erformance thus increasing over all performance.4 design of fuzzy-pid controllerspeed drive motor controller design is similar to the following example for steering gear controller design. fuzzy controller consists of fuzzification, fuzzy-inference and defuzzification, which are based on the knowled

12、ge base.6 controller input error and error change, output the parameters kp,ki,kd.suppose the fuzzy set for e isnb,nm,ns,no,po,ps，pm,pb; the fuzzy set for ec、 kp、ki and kd isnb,nm,ns,zo,ps,pm,pb. the linguistic meanings are: nb = negative big, nm = negative middle, ns = negative small, no = negative

13、 zero, zo = zero, po = positive zero, ps = positive small, pm = positive middle, pb = positive big. so the membership function curves of fuzzy variables e、ec、kp、ki and kd are shown in the fig.3-fig.7:its necessary to establish rule table after finishing fuzzification. according the description of ru

14、le table, 56 fuzzy conditional statements can be summed, which look like if (e is pb) and (ec is pb) then (kp is pb) (ki is zo) (kd is pb). see details in tab.1-tab.3.then, the last step is defuzzification and making a lookup table. during fuzzy control, the lookup table would be embed into the prog

15、ram. suppose input value is fixed, the corresponding output value would be found in the table. actually, this would save much computing time, and the control would become simply.5 analysis of experimental resultsexperiment used the steering gear model. the simulation circuit were shown in fig.2. the

16、 usual pid and fuzzy pid algorithm were all simulinked in the matlab. responding curves obtained were shown in fig.8 and fig.9. the experimental result show that compared with the usual pid, the responding time of fuzzy-pid algorithm is shorter without over swing. the system dynamic performance is i

17、mproved significantly.6 conclusion and outlookthis paper provided a design scheme for controlling a smart car, which is proved practically and superlatively though experiments. unmanned smart car is due to the development of computer technology, pattern recognition and intelligent control technique.

18、 many countries and research groups are doing research in the area. but its a complicated system, which involves a number of technologies. so the development of each technology is important, for it would become the bottleneck of the development of smart car.stepper motorstepper motor is the electric

19、 pulse signals into angular displacement or linear displacement of the open-loop stepper motor control element pieces. in the case of non-overloaded, the motor speed, stop position depends only on the pulse frequency and pulse number, regardless of load changes, when the driver receives a step pulse

20、 signal, it will drive a stepper motor to set the direction of rotation of a fixed angle, called the step angle, which the angle of rotation is fixed step by step operation. number of pulses can be controlled by controlling the angular displacement, so as to achieve accurate positioning purposes; th

21、e same time by controlling the pulse frequency to control the motor rotation speed and acceleration, to achieve speed control purposes.1 workinduction motor is a stepper motor, does it work is the use of electronic circuits, the dc power supply into a time-sharing, multi-phase timing control current

22、, this current stepper motor power supply, the stepper motor to work properly , the drive is sharing power supply for the stepper motor, the polyphase timing controller.although the stepper motor has been widely used, but the stepper motor does not like a normal dc motor, ac motor in the conventiona

23、l use. it must be double-ring pulse signal; power driver circuit composed of the control system can be used. therefore, it is not easy with a good stepping motor, which involves mechanical, electrical, electronics and computers, and much other specialized knowledge.as the stepper motor actuators, el

24、ectromechanical integration, one of the key products, widely used in a variety of automatic control systems. with the development of microelectronics and computer technology, increasing demand for stepper motor has applications in all areas of the national economy.2 categoriesnow more commonly used

25、include the reaction of step motor stepper motor (vr), permanent magnet stepper motor (pm), hybrid stepper motors (hb) and single-phase stepper motor.3 permanent magnet stepper motorpermanent magnet stepper motor is generally two-phase, torque, and smaller, usually 7.5 degree step angle or 15 degree

26、s;permanent magnet stepper motor output torque, dynamic performance, but a large step angle.4 reaction stepper motor reaction is generally three-phase stepping motor can achieve high torque output, step angle of 1.5 degrees is generally, but the noise and vibration are large. reaction by the stepper

27、 motor rotor magnetic circuit made of soft magnetic materials, a number of the stator phase excitation winding, the use of permeability changes in torque.step motor simple structure, low production costs, step angle is small; but the dynamic performance is poor.5 hybrid stepping motorhybrid step mot

28、or combines reactive, permanent magnet stepper motors of both, its a small step angle, contribute a large, dynamic performance, is currently the highest performance stepper motor. it is also sometimes referred to as permanent magnet induction stepping motor. it consists of two phases and the five-ph

29、ase: the general two-phase step angle of 1.8 degrees and the general five-phase step angle 0.72 degrees. the most widely used stepper motor. stepper motor drive for energy saving6 three-phase stepper motor drive special features:u 180% low torque output, low frequency characteristics of a good runu

30、maximum output frequency 600hz, high-speed motor controlu full range of detection of protection (over voltage, under voltage, overload) instantaneous power failure restartu acceleration, deceleration, such as dynamic change in the stall protection function to preventu electrical dynamic parameters o

31、f automatic recognition function to ensure stability and accuracy of the systemu quick response and high-speed shutdownu abundant and flexible input and output interface and control, versatilityu use of smt production and three full-mount anti-paint treatment process, product stability and highu ful

32、l range of siemens igbt power devices using the latest, to ensure the quality of high-quality7 basic principlesusually for the permanent magnet rotor motor, when current flows through the stator windings, the stator windings produce a magnetic field vector. the magnetic field will lead to a rotor an

33、gle of the magnetic field makes the direction of a rotor and the stators magnetic field direction. when the stator magnetic field vector rotating at an angle. as the rotor magnetic field is also transferred from another perspective. an electrical pulse for each input, the motor turning a point forwa

34、rd. it is the angular displacement of the output and input the number of pulses proportional to speed and pulse frequency is proportional to. power to change the order of winding, the motor will reverse. therefore, the number of available control pulse, frequency and power the motor windings of each

35、 phase in order to control the stepper motor rotation.8 induction stepping motor8-1 features: induction, compared with the traditional reactive, structural reinforced with a permanent magnet rotor, in order to provide the working point of soft magnetic materials, and the stator excitation magnetic f

36、ield changes only need to provide to provide the operating point of the consumption of magnetic materials energy, so the motor efficiency, current, low heat. due to the presence of permanent magnets, the motor has a strong emf, the damping effect of its own good, it is relatively stable during opera

37、tion, low noise, low frequency vibration. induction can be seen as somewhat low-speed synchronous motor. a four-phase motor can be used for four-phase operation, but also can be used for two-phase operation. (must be bipolar voltage drive), while the motor is not so reactive. for example: four phase

38、, eight-phase operation (a-ab-b-bc-c-cd-d-da-a) can use two-phase eight-shot run. not difficult to find the conditions for c =, d =. a two-phase motors internal winding consistent with the four-phase motors, small power motors are generally directly connected to the second phase, the power of larger

39、 motor, in order to facilitate the use and flexible to change the dynamic characteristics of the motor, its external connections often lead to eight (four-phase), so that when used either as a four-phase motors used, can be used for two-phase motor winding in series or parallel.8-2 classification：in

40、duction motors can be divided in phases: two-phase motor, three phase motor, four-phase motor, five-phase motor. the frame size (motor diameter) can be divided into: 42byg (byg the induction stepping motor code), 57byg, 86byg, 110byg, (international standard), and like 70byg, 90byg, 130byg and so ar

41、e the national standards.8-3 the stepper motor phase number of static indicators of terms: very differently on the n, s the number of magnetic field excitation coil. common m said. beat number: complete the necessary cyclical changes in a magnetic field pulses or conducting state with n said, or tha

42、t turned a pitch angle of the motor pulses needed to four-phase motor, for example, a four-phase four-shot operation mode that ab -bc-cd-da-ab, shot eight four-phase operation mode that a-ab-b-bc-c-cd-d-da-a. step angle: corresponds to a pulse signal, the angular displacement of the rotor turned wit

43、h said. = 360 degrees (the rotor teeth number of j * run shot), the conventional two, four-phase, the rotor teeth 50 tooth motor as an example. four step run-time step angle = 360 / (50 * 4) = 1.8 degrees (commonly called the whole step), eight-shot running step angle = 360 / (50 * 8) = 0.9 degrees

44、(commonly known as half step.) location torque: the motor is not energized in the state, its locked rotor torque (as well as by the magnetic field profile of harmonics caused by mechanical error) static torque: the motor under the rated static electricity, the motor without rotation, the motor shaft

45、 locking torque. the motor torque is a measure of volume (geometry) standards, and drive voltage and drive power, etc. has nothing to do. although the static torque is proportional to the electromagnetic magnetizing ampere turns, and fixed air gap between the rotor teeth on, but over-use of reduced

46、air gap, increase the excitation ampere-turns to increase the static torque is not desirable, this will cause the motor heating and mechanical noise.智能小車控制中模糊-pid控制的實現(xiàn)摘要：本文設(shè)計了一個自動智能小車控制系統(tǒng)和模糊-pid控制算法。 提出了一個設(shè)計模糊pid控制器的方案。通過matlab的仿真分析表明,模糊- pid控制算法的性能比一般的pid控制更好。智能小車的試驗結(jié)果表明它會隨黑色的引導(dǎo)線快速并且穩(wěn)定的走完整個行程。關(guān)鍵詞：模

47、糊pid；智能小車；模糊控制器；模糊控制。 1簡介近年來,許多國家正在研制無人駕駛的車輛技術(shù)。產(chǎn)生了許多新的理論和應(yīng)用技術(shù)。文獻1中提出了一個采用實時檢測速度從而準確、動態(tài)改變小車轉(zhuǎn)向的理論，從而實現(xiàn)轉(zhuǎn)向完美特性的控制策略。文獻2中采用邊緣檢測算法來提取道路信息，并采用了比例控制。文獻3提出了一種有效、具有良好抗干擾性的、適應(yīng)性強的動態(tài)圖像處理算法。這種算法有效的解決了由環(huán)境光線變化以及軌道變化所引起的小車偏離軌道現(xiàn)象。文獻4利用非線性最優(yōu)化重建了軌道和攝像調(diào)整間的空間關(guān)系，從而使它能夠精確的測量出橫向偏差。上述方案都從某種意義上改善了小車的性能，但他們都缺少以小車運動和大量實驗為基礎(chǔ)的小車的

48、特性。這篇文章中提出了一個模糊控制算法以及模糊pid控制器的設(shè)計方法。在本文最后,給出了實驗結(jié)果來證明模糊pid算法的有效性。2硬件系統(tǒng)設(shè)計要實現(xiàn)模糊pid控制算法的設(shè)計，有必要設(shè)計一個智能小車硬件系統(tǒng)。智能小車應(yīng)該有由道路檢測，轉(zhuǎn)角檢測，速度檢測等構(gòu)成的智能控制單元。詳見圖1。圖1 智能小車原理框圖3模糊pid控制的基本原則用一般的pid控制算法來獲得最好的響應(yīng)是不容易的。因為參數(shù)kp、ki、kd不適應(yīng)于不同的對象，或者同一個對象的不同狀態(tài)。模糊控制是以模糊集合和模糊邏輯為機車的。不需要精確的數(shù)學(xué)模型，它可以由用經(jīng)驗建立起來的規(guī)則表來確定控制變量的大小。一般來說，模糊控制的輸入變量基于系統(tǒng)的

49、誤差e和系統(tǒng)的誤差變化量ec。這和比例微分控制相似。這樣的控制可能可以獲得較好的動態(tài)性能，但獲得的靜態(tài)性能不能讓人滿意。將模糊控制于pid控制結(jié)合起來，這就會使系統(tǒng)即具有模糊控制所具有的靈活的適應(yīng)特性，又具有pid控制的所具有的較高的精確度。圖2給出了模糊pid控制系統(tǒng)的結(jié)構(gòu)圖，其中模糊控制器的作用是選擇不同的pid參數(shù)來改善局部響應(yīng)，進而改善整體的響應(yīng)。圖2 模糊pid控制仿真框圖4模糊pid控制器的設(shè)計速度驅(qū)動電機控制器的設(shè)計和下面給出的轉(zhuǎn)向機構(gòu)控制器設(shè)計是相似的。模糊控制器由模糊化、模糊推理、去模糊化組成，這些都是以知識庫為基礎(chǔ)的?？刂破鬏斎霝檎`差及誤差變化量，輸出為參數(shù)kp、ki、kd

50、。假設(shè)誤差e的模糊集合為nb nm ns no po ps pm pb;誤差變化量ec、參數(shù)kp、ki、kd的模糊集合為nb nm ns zo ps pm pb。他們表示的意義為：nb=負大、nm=負中、ns=負小、no=負零、zo=零、po=正零、ps=正小、pm=正中、pb=正大。得到模糊變量e、ec、kp、ki、kd的隸屬度函數(shù)曲線如圖3至圖7所示：圖3 kp隸屬函數(shù)響應(yīng)曲線圖4 ki隸屬函數(shù)響應(yīng)曲線圖5 kd隸屬函數(shù)響應(yīng)曲線圖6 e隸屬函數(shù)響應(yīng)曲線圖7 ec隸屬函數(shù)響應(yīng)曲線在模糊化完成后需要建立規(guī)則表，根據(jù)規(guī)則表的描述，可以總結(jié)出56個模糊條件語句，形式例如：如果(e 是 pb) 并且

51、 (ec 是 pb)那么(kp 是 pb) (ki 是 zo) (kd是 pb)。詳見表1表3。最后一個步驟是去模糊化和建立查詢表。在模糊控制中查詢表應(yīng)該嵌入到程序中。假設(shè)輸入的值是固定的那么可以在表中查出相應(yīng)的輸出值。實際上，這可以節(jié)省許多計算時間并使控制簡化。表1 kp規(guī)則表表2 ki規(guī)則表表3 kd規(guī)則表5實驗結(jié)果分析圖8 pid控制響應(yīng)曲線圖9 模糊pid控制響應(yīng)曲線實驗利用了轉(zhuǎn)向機構(gòu)模型，它的仿真回路已經(jīng)由圖2給出。我們已經(jīng)用matlab仿真出了一般pid控制算法和模糊pid控制算法，獲得的響應(yīng)曲線如圖8、圖9所示。實驗結(jié)果表明，同一般得pid控制相比模糊控制的響應(yīng)時間要短且沒有超調(diào)

52、的。系統(tǒng)的動態(tài)性能有了重大的提高。6總結(jié)和展望這篇文章給出了一個控制智能小車的設(shè)計方案，并且通過實驗從實際上很好的驗證了這個方案。無人駕駛智能小車是以計算機技術(shù)、模式識別以及智能控制技術(shù)的發(fā)展為基礎(chǔ)的。許多國家和機構(gòu)都在做這一方面的研究，但它是一個復(fù)雜的系統(tǒng)，它包含了許多方面的技術(shù)，所以任何一個技術(shù)的發(fā)展都是重要的，這可能成為智能車發(fā)展的瓶頸。步進電機步進電機是將電脈沖信號轉(zhuǎn)變?yōu)榻俏灰苹蚓€位移的開環(huán)控制元步進電機件。在非超載的情況下，電機的轉(zhuǎn)速、停止的位置只取決于脈沖信號的頻率和脈沖數(shù)，而不受負載變化的影響，當步進驅(qū)動器接收到一個脈沖信號，它就驅(qū)動步進電機按設(shè)定的方向轉(zhuǎn)動一個固定的角度，稱為“

53、步距角”，它的旋轉(zhuǎn)是以固定的角度一步一步運行的?？梢酝ㄟ^控制脈沖個數(shù)來控制角位移量，從而達到準確定位的目的；同時可以通過控制脈沖頻率來控制電機轉(zhuǎn)動的速度和加速度，從而達到調(diào)速的目的。工作原理步進電機是一種感應(yīng)電機，它的工作原理是利用電子電路，將直流電變成分時供電的，多相時序控制電流，用這種電流為步進電機供電，步進電機才能正常工作，驅(qū)動器就是為步進電機分時供電的，多相時序控制器 雖然步進電機已被廣泛地應(yīng)用，但步進電機并不能象普通的直流電機，交流電機在常規(guī)下使用。它必須由雙環(huán)形脈沖信號、功率驅(qū)動電路等組成控制系統(tǒng)方可使用。因此用好步進電機卻非易事，它涉及到機械、電機、電子及計算機等許多專業(yè)知識。 步進電機作為執(zhí)行元件，是機電一體化的關(guān)鍵產(chǎn)品之一, 廣泛應(yīng)用在各種自動化控制系統(tǒng)中。隨著微電子和計算機技術(shù)的發(fā)展，步進電機的需求量與日俱增，在各個國民經(jīng)濟領(lǐng)域都有應(yīng)用。 分類現(xiàn)在比較常用的步進電機包括反應(yīng)式步進電機（vr）、永磁式步進電機（pm）、混合式步進電機（hb）和單相式步進電機等。 永磁