基于模糊PID控制的智能循迹小车设计  

Design of Intelligent Tracking Vehicle Based on Fuzzy PID Control

作　　者：孙建康 王帅 曹斯萌 石秀敏[1,3] SUN Jiankang;WANG Shuai;CAO Simeng;SHI Xiumin(Tianjin University of Technology and Education Institute of Robotics and Intelligent Equipment,Tianjin 300222;Tianjin Bono Zhichuang Robot Technology Co.,Ltd.,Tianjin 300352;Tianjin Key Laboratory of Intelligent Robot Technology and Application Enterprises,Tianjin 300352)

机构地区：[1]天津职业技术师范大学机器人及智能装备研究院,天津300222 [2]天津博诺智创机器人技术有限公司,天津300352 [3]天津市智能机器人技术及应用企业重点实验室,天津300352

出　　处：《现代制造技术与装备》2021年第12期202-205,共4页Modern Manufacturing Technology and Equipment

基　　金：天津市科技军民融合重大专项“轻型高机动救援机器人平台关键技术研发”(18ZXJMTG00160)。

摘　　要：现如今,人们的物质生活水平随着国家经济发展不断提升,人们对某些生活产品的需求大幅增加,对企业的生产技术要求不断提高。在这一过程中,智能车辆研究发展迅速。基于此,建立了智能小车的运动模型,并用MATLAB软件进行仿真研究,继而搭建了智能小车的硬件平台,以仿真比例-积分-微分(Proportion Integration Differentiation,PID)结果为参考,设计基于单片机的模糊PID算法,以达到对智能循迹小车在行驶时的速度进行闭环控制的目的。与开环循迹小车运行效果相比,其稳定性及精确性得到了大大提高。Nowadays,with the continuous improvement of people’s material living standards with the national economic development,people’s demand for some living products has increased significantly,and the production technology requirements of enterprises have also increased.In this process,the research of intelligent vehicle has developed rapidly.Based on this,the threedimensional model of the intelligent car is established,and the simulation research is carried out with MATLAB software.Then,the hardware platform of the intelligent car is built.Taking the simulation Proportional Integration Differentiation(PID)results as a reference,the fuzzy PID algorithm based on single chip microcomputer is designed,In order to achieve the purpose of closed-loop control of the speed of the intelligent tracking car,compared with the operation effect of the open-loop tracking car,its stability and accuracy have been greatly improved.

关 键 词：模糊自适应比例-积分-微分(PID)算法 智能小车 循迹 单片机 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]