基于模糊PID对万向车台路径引导控制  

Path Guidance Control of Omni-directional Vehicle Based on Fuzzy PID

作　　者：汤子龙 丁志强[1] 丁永强 高世燕 TANG Zi-longl;DING Zhi-qiangl;DING Yong-qiang;GAO Shi.yan(School of Electrical and Information Engineering,Lanzhou University of Technology,Lanzhou 730050,China;Gansu University of Technology Stage Technical Engineering Co.,Ltd.,Lanzhou 730050,China;Gansu Zhenglong Project Bidding Agency Limited Liability Co.,Ltd.,Tianshui 741000,China)

机构地区：[1]兰州理工大学电气工程与信息工程学院,兰州730050 [2]甘肃工大舞台技术工程有限公司,兰州730050 [3]甘肃正隆工程招标代理有限责任公司,天水741000

出　　处：《自动化与仪表》2018年第6期20-24,38,共6页Automation & Instrumentation

摘　　要：针对自动导引万向车台在预设路径行走的过程中,由于外界因素的影响导致车台偏离预设的路径问题,提出了基于激光引导方式对万向车台的行走路径状态进行数据采集,以位置偏差和方向偏差作为引导控制系统的输入,运用模糊PID控制器对万向车台的行走过程进行引导控制。利用Mat Lab/Simulink对其动态仿真,加入常规PID控制器仿真对比,由仿真结果分析得知,该控制方法对万向车台在行走的过程中实时引导控制,提高了控制系统的鲁棒性、准确性、快速性和智能性,是一种更优的控制策略。通过路径导引性能测试,由测试数据可得万向车台系统路径导引性能满足舞台应用的要求标准。For the automatic guided omni-direetional vehicler walking in the preset route,because of the external fac- tors will deviate from the preset path problem. It put forward that the data collect of the running state of omni-di- rectional vehicle based on laser guidance,position deviation and direction deviation are used input variables of the guidance control system. The fuzzy PID controller is used to guide and control the walking process of the vehicle.The simulation used by MatLab/Simulink and compared with the conventional PID controller. The control method is used to guide the control system in real time which improve the control system robustness,accuracy,speed,intelligence,it is a better control strategy. Through the test of path guidance performance,performance of omni-directional vehicle platform system can satisfy the requirements of stage application.

关 键 词：模糊PID控制 万向车台 激光引导 动态仿真 性能测试 

分 类 号：TP274.52[自动化与计算机技术—检测技术与自动化装置]