基于PID及模糊PID的智能车恒速行驶仿真  

Simulation of intelligent vehicle at constant speed based on PID and fuzzy PID

作　　者：张腾[1] 张永根[2] 轩德丰 宋秋杰 李伟[1] 熊树生[1] ZHANG Teng;ZHANG Yonggen;XUAN Defeng;SONG Qiujie;LI Wei;XIONG Shusheng

机构地区：[1]浙江大学能源工程学院,浙江杭州310027 [2]杭叉集团股份有限公司,浙江杭州311305

出　　处：《现代机械》2021年第1期91-94,共4页Modern Machinery

摘　　要：中国城市近年来发展迅速,机场在一定程度上已成为一个城市的标志。近几年,机场跑道施工技术也在不断进步,其中,滑模摊铺技术凭借其出色的施工效率、优秀的施工质量以及较低的人力成本,成为了当下的研究热门。本研究结合机场施工智能车项目,开发一种用于滑模摊铺后处理的自动驾驶工程车,利用PID及模糊PID控制方法实现智能车恒速行驶控制,以达到稳态误差在3%以内,响应时间在1 s以内的控制效果。通过建模仿真结果分析,本研究实际控制效果完全能够满足控制要求。China’s urban development is rapid in recent years,and the airport has become a symbol of a city to a certain extent.The construction technology of airport runways has been improving continuously.The slipform paving technology has become a popular research topic because of its excellent construction efficiency and quality,as well as its low labor cost.In this study,based on the airport construction intelligent vehicle project,we developed an automatic driving engineering vehicle for post-processing of slipform paving.By using PID and fuzzy PID control methods,constant speed control of the intelligent vehicle was achieved;the steady-state error was kept within 3%,and the response time was within 1 s.Modeling and simulation analysis showed that the actual control effect of the method could fully meet the control requirements.

关 键 词：履带车 恒速行驶 MATLAB/SIMULINK 模糊PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]