Method for controlling PID controller route based on fuzzy control

A technology of fuzzy controller and path control, applied in two-dimensional position/channel control, etc., can solve the problem of self-tracking intelligent vehicles losing effective control, etc., and achieve low power consumption, good real-time performance, and high efficiency

Inactive Publication Date: 2014-08-20
SUZHOU INST OF INDAL TECH
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  • Abstract
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Problems solved by technology

However, the existing self-tracking smart car is subject to the interference of factors such as its own mechanical structure, complex operating environment (such as complex curve

Method used

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  • Method for controlling PID controller route based on fuzzy control
  • Method for controlling PID controller route based on fuzzy control
  • Method for controlling PID controller route based on fuzzy control

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Embodiment Construction

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described and discussed below in conjunction with the accompanying drawings of the present invention. Obviously, what is described here is only a part of the examples of the present invention, not all examples. Based on the present invention All other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0031] In order to facilitate the understanding of the embodiments of the present invention, specific embodiments will be taken as examples for further explanation below in conjunction with the accompanying drawings, and each embodiment does not constitute a limitation to the embodiments of the present invention.

[0032] The scheme adopted in the present invention is: laying a guiding line that is in sharp contrast with the color of the road surface in the traveling area of ​​the s...

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Abstract

The invention discloses a method for controlling a PID controller route based on fuzzy control. The method comprises the steps that on the basis of a motor PID controller, a route correcting strategy based on the fuzzy control idea is integrated, fuzzy PID controlled quantities of delta Kp, delta Ki and delta Kd are obtained by detecting deviation and the deviation regulating rate, after the fuzzy PID controlled quantities are received by the PID controller, the fuzzy PID controlled quantities are subjected to defuzzification to be adjusted to be three precise controlled quantities of Kp, Ki and Kd. Accordingly, a motor of self-tracking equipment is controlled, and the purpose of correcting the route is achieved.

Description

technical field [0001] The invention relates to the technical field of self-tracking control, in particular to a fuzzy control-based PID controller path control method. Background technique [0002] The self-tracking smart car is a common self-tracking device at present, and the output of the PID controller is used to adjust the motor for self-tracking control. PID control, that is, the linear combination of proportional, integral and differential control, is a typical motor microprocessor control method. Its commonly used tracking methods include: GPS navigation, electromagnetic induction navigation, inertial navigation, visual navigation, laser navigation, preset coordinate navigation, photoelectric reflection navigation, magnetic tape navigation, etc. The present invention mainly studies photoelectric reflection navigation. [0003] The working principle of photoelectric reflective navigation is as follows: the body of the self-tracking smart car is usually equipped with...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 姜颖韬
Owner SUZHOU INST OF INDAL TECH
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