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针对智能车辆自主寻迹问题,运用模糊控制算法对智能模型车的转向舵机进行控制。该算法通过对寻迹路径的偏差及偏差的导数进行模态划分,产生对应的控制规则,控制舵机的转角,以达到消除偏差的目的。该算法具有控制灵活、响应速度快、超调量小、鲁棒性强等优点。通过在实际模型车中的应用说明了该算法在这类系统的控制是可行的。
In view of the problem of autonomous vehicle tracking, a fuzzy control algorithm is used to control the steering servo of the intelligent model car. The algorithm divides the deviation of the tracing path and the derivatives of the deviations to generate the corresponding control rules and controls the steering angle of the steering gear so as to eliminate the deviation. The algorithm has the advantages of flexible control, fast response, small overshoot and strong robustness. Through the application in the actual model car, it is feasible to control the system in this kind of system.