Fuzzy control-based differential-first pid control system

Abstract

The present invention relates to a fuzzy control-based differentiation first PID (proportion integration differentiation) control system. The control system comprises a differentiation first link, a fuzzy controller, a proportion link, an integration link and a feedforward controller; speed deviation and speed deviation change rate are adopted as the input of the fuzzy controller, and a control quantity outputted by the fuzzy controller is the proportion coefficient increment of the proportion link; the differentiation first link is arranged on a feedback loop; a speed measurement value and a change rate value thereof are inputted into the proportion link and the integration link as measurement values; the output quantities of the proportion link and the integration link are adopted as the control signals of the PID control system; and only when a speed set value changes, the feedforward controller performs control for a certain period, namely, the feedforward controller suppresses the output quantities and promotes the change of the output quantities. With the system adopted, overshooting can be effectively avoided, and dynamic performance can be improved. The anti-interference ability and robustness of the system can be enhanced.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a fuzzy control-based differential advance PID control system. Background technique [0002] A smart car refers to a type of racing car that is controlled by its own program and has automatic driving, automatic shifting, and even automatic road recognition. In the self-designed smart car, speed control is the core of the whole smart car system control. In order to complete the race faster and more stably on the prescribed track, the smart car should slow down in advance when encountering a curve to prevent it from rushing out of the track, and it should accelerate when it exits the curve and enters the straight track. Such a varied route brings about frequent changes in the speed set point. The differential link in the traditional PID algorithm is to differentiate the set value and the output value at the same time. When it is applied to this system, it will bring dif...

AI Technical Summary

Problems solved by technology

The differential link in the traditional PID algorithm is to differentiate the set value and the output value at the same time. When it is applied to this system, it will bring different degrees of oscillation, which will lead to the loss of control of the smart car system.

Even if the traditional PID can make the system reach the speed setting value smoothly, the response of the system will be slower and the dynamic performance will be worse

In addition, many uncertain factors such as external disturbances and motor parameters also cause some problems in traditional PID control.

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