基于改进模糊PID算法的智能铲运机自主行驶控制方法  

The control method based on improved fuzzy-PID algorithm for the autonomous driving of intelligent LHD

作　　者：龙智卓[1] 战凯[1] 顾洪枢[1] 石峰[1] 郭鑫[1] 冯孝华[1] 

机构地区：[1]北京矿冶研究总院,北京100160

出　　处：《有色金属（矿山部分）》2015年第5期76-80,共5页NONFERROUS METALS(Mining Section）

基　　金：国家高技术研究发展规划(863计划)项目(2011AA060403)

摘　　要：针对智能铲运机在井下环境中的自主行驶问题,在现有基础的多变量PID算法和传统的模糊PID算法基础上,设计了改进模糊PID算法。改进模糊PID算法引入权重协调航向角控制器和横向偏差控制器对输出转向角的影响。建立铲运机自主行驶的SIMULINK仿真模型。仿真结果表明,改进模糊PID算法在响应时间、超调量以及稳态误差等方面相比于多变量PID算法有较大优势。Aiming at the autonomous driving problem of intelligent Load-Haul-Dump（LHD） in the underground environment, an improved fuzzy-PID algorithm is proposed based on the algorithm of multi-variable PID and fuzzy- PID. This algorithm introduces a weight coefficient to coordinate the effects on steering angle that comes from the outcome of path angle and lateral deviation. This paper builds a SIMULINK model of autonomous driving that depends on the mathematical model of LHD. The results of simulation prove that the improved fuzzy-PID algorithm has the advantages of fast response, small overshoot and steady-state error compared with the traditional multi variable PID and fuzzy-PID algorithm.

关 键 词：智能铲运机 自主行驶 改进模糊PID算法 

分 类 号：TD422.4[矿业工程—矿山机电]