汽车驾驶机器人纵横向运动模糊PID协调控制  

Fuzzy PID Coordinated Control of Longitudinal and Transverse Motion of Automotive Driving Robots

作　　者：宋小芹 王照良 SONG Xiaoqin;WANG Zhaoliang(Sias University,He’nan Zhengzhou 451150,China;He’nan Polytechnic University,He’nan Jiaozuo 454003,China)

机构地区：[1]郑州西亚斯学院,河南郑州451150 [2]河南理工大学,河南焦作454003

出　　处：《机械设计与制造》2024年第12期188-192,共5页Machinery Design & Manufacture

基　　金：2024年度河南省高等学校重点科研项目(24B520044);郑州西亚斯学院2023年度科研资助项目(2023-B007);河南省2020年民办普通高等学校学科专业建设资助项目(教办政法[2020]162号计算机科学与技术专业)。

摘　　要：车辆的操纵受到诸多因素的影响,包括其自身动力学限制、传感器的误差以及周围环境的变化等,导致在控制执行过程中出现偏差,对机器人的操纵性能产生影响。因此,提出汽车自动驾驶机器人模糊PID协调控制方法。基于汽车驾驶机器人系统结构,从纵、横向操纵动力学方程两方面,建立耦合动力学模型,并采用模糊PID自适应控制策略控制换挡机械手。在机器人动力学模型的基础上获取电机转矩的期望值,并设计速度控制器,根据电机的当前速度和期望速度,调整电机的输入电流,从而改变电机的转速,实现汽车自动驾驶机器人模糊PID协调控制。实验结果表明:所提方法在换挡测试和速度测试中,X轴位移在(20~80)mm之间、关节驱动力矩(20100~20800)N·mm之间、速度变化曲线在(5~35)km/h之间,且控制曲线与期望值一致。The control of the vehicle is affected by many factors,including its own dynamic limitations,the error of the sensor and the change of the surrounding environment,which leads to the deviation in the control execution process and affects the control performance of the robot.Therefore,a fuzzy PID coordinated control method for automotive autonomous driving robot is proposed.Based on the system structure of the vehicle driving robot,the coupling dynamics model is established from both vertical and lateral control dynamics equations,and fuzzy PID adaptive control strategy is used to control the shifting manipulator.On the basis of the robot dynamics model,the expected value of motor torque is obtained,and the speed controller is designed to adjust the input current of the motor according to the current and expected speed of the motor,so as to change the speed of the motor,and realize the fuzzy PID coordination control of the automatic driving robot.The experimental results show that in the shift test and speed test of the proposed method,the X-axis displacement ranges from 20 to 80mm,the joint driving torque ranges from 20100 to 20800N·mm,and the velocity curve ranges from 5 to 35km/h,and the control curve is consistent with the expected value.

关 键 词：驾驶机器人 纵横向运动 耦合动力学模型 模糊PID自适应控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]