智能小车控制中模糊PID控制的实现毕业设计英文翻译.docx

智能小车控制中模糊PID控制的实现毕业设计英文翻译.docx

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智能小车控制中模糊PID控制的实现毕业设计英文翻译

ImplementationofFuzzy-PIDinSmartCarControl

Abstract—Anunmanuedsmartcarcontrolsystemandthefuzzy-PIDcontrolalgorithmareproduced.Adesignschemeoffuzzy-PIDcontrollerisputforward.Thesimulationanalysisfrommatlabindicatedthatthedynamicperformanceoffuzzy-PIDcontrolalgorithmisbetterthanthatofusualPID.Experimentalresultofsmartcarshowthatitcanfollowtheblackguidelinewellandfast-stablecompleterunningthewholetrip.

Keywords—fuzzy-PID;smartcar;fuzzycontroller;fuzzycontrol

1Introduction

Inrecentyears,manycountriesaredevelopingunmannedvehicletechnology.Thisgivesbirthtomanynewtheoriesandappliedtechnology.Reference[1]presentsthetheoryofturnaheadwhichusesreal-timemonitoringspeedtochangetheturn-inpointdynamically,thenitimplementsthecontrolstrategytoachieveaperfectcharacteristicsofsteering.Reference[2]usesedgedetectionalgorithmtoextracttrackinformationandadoptPcontrol.Reference[3]proposesaefficient,goodanti-jammingandadaptiveimageprocessingdynamicalgorithmwhicheffectivelysolvestheoutoftrackcausedbythechangesofambientlightandtrack.Reference[4]reconstructsspatialrelationshipsoftrackandcalibratescamerausingnonlinearoptimization,thenitcanmeasurelateraldeviationaccurately.Theaboveimprovevehicleperformanceinonewaybuttheyarealllackofcharacteristicsofcarmovementandbasedonlotsofexperiments.Afuzzy-PIDcontrolalgorithmandadesignschemeoffuzzy-PIDcontrollerareputforwardinthispaper.Atlast,theexperimentalresultisgivenouttoprovethevalidityoffuzzy-PID.

2Hardwaresystemdesign

Toimplementthedesignoffuzzy-PIDalgorithm,it’snecessarytodesignahardwaresystemofsmartcar.Smartcarwouldhaveasmartcontrolunitewhichcontaindetectionofguideline,steeringanglevalue,speedvalueandsoon.SeedetailsinFig.1.

Fig.1Thefunctionalblockdiagramofsmartcar

3Basicprincipleoffuzzy-PID

It’sdifficultforusualPIDcontrolalgorithmtoachievethebesteffect.Because,theparametersKp,Ki,Kdcan’tadjusttodifferentobjectordifferentstateofthesameobject.Fuzzycontrolisbasedonfuzzysetandfuzzylogic.Withoutprecisemathematicalmodelitcandeterminethesizeofcontrolledvariableaccordingtheruletableorganizedbyexperience.Ingeneral,fuzzycontrolinputvariablesarebasedonsystemerrorEanderrorchangeEC,whichissimilartoPDcontrol.Suchcontrolmighthaveagooddynamiccharacteristic,butthestaticperformanceisnotsatisfactory.

CombiningfuzzycontrolandPIDcontrol,thiswouldmakeasystemhavebothflexibility-adaptablityoffuzzycontrolandhighaccuracyofPIDcontrol.Fig.2showsthestructurediagramoffuzzy-PIDcontrolsystem,inwhichfuzzycontrollerisresponsibleforselectingadifferentPIDparametertoimprovethelocalperformancethusincreasingoverallperformance.

4Designoffuzzy-PIDcontroller

Speeddrivemotorcontrollerdesignissimilartothefollowingexampleforsteeringgearcontrollerdesign.Fuzzycontrollerconsistsoffuzzification,fuzzy-inferenceanddefuzzification,whicharebasedontheknowledgebase.[6]Controllerinputerroranderrorchange,outputtheparametersKp,Ki,Kd.

SupposethefuzzysetforEis{NB,NM,NS,NO,PO,PS，PM,PB};thefuzzysetforEC、Kp、KiandKdis{NB,NM,NS,ZO,PS,PM,PB}.Thelinguisticmeaningsare:

NB=negativebig,NM=negativemiddle,NS=negativesmall,NO=negativezero,ZO=zero,PO=positivezero,PS=positivesmall,PM=positivemiddle,PB=positivebig.SothemembershipfunctioncurvesoffuzzyvariablesE、EC、Kp、KiandKdareshownintheFig.3-Fig.7:

It’snecessarytoestablishruletableafterfinishingfuzzification.Accordingthedescriptionofruletable,56fuzzyconditionalstatementscanbesummed,whichlooklikeIf（EisPB）and（ECisPB）then（KpisPB）（KiisZO）（KdisPB）.SeedetailsinTab.1-Tab.3.

Then,thelaststepisdefuzzificationandmakingalookuptable.Duringfuzzycontrol,thelookuptablewouldbeembedintotheprogram.Supposeinputvalueisfixed,thecorrespondingoutputvaluewouldbefoundinthetable.Actually,thiswouldsavemuchcomputingtime,andthecontrolwouldbecomesimply.

5Analysisofexperimentalresults

Experimentusedthesteeringgearmodel.ThesimulationcircuitwereshowninFig.2.TheusualPIDandfuzzyPIDalgorithmwereallsimulinkedintheMatlab.RespondingcurvesobtainedwereshowninFig.8andFig.9.TheexperimentalresultshowthatcomparedwiththeusualPID,therespondingtimeoffuzzy-PIDalgorithmisshorterwithoutoverswing.Thesystemdynamicperformanceisimprovedsignificantly.

6Conclusionandoutlook

Thispaperprovidedadesignschemeforcontrollingasmartcar,whichisprovedpracticallyandsuperlativelythoughexperiments.Unmannedsmartcarisduetothedevelopmentofcomputertechnology,patternrecognitionandintelligentcontroltechnique.Manycountriesandresearchgroupsaredoingresearchinthearea.Butit’sacomplicatedsystem,whichinvolvesanumberoftechnologies.Sothedevelopmentofeachtechnologyisimportant,foritwouldbecomethebottleneckofthedevelopmentofsmartcar.

Steppermotor

Steppermotoristheelectricpulsesignalsintoangulardisplacementorlineardisplacementoftheopen-loopsteppermotorcontrolelementpieces.Inthecaseofnon-overloaded,themotorspeed,stoppositiondependsonlyonthepulsefrequencyandpulsenumber,regardlessofloadchanges,whenthedriverreceivesasteppulsesignal,itwilldriveasteppermotortoSetthedirectionofrotationofafixedangle,calledthe"stepangle",whichtheangleofrotationisfixedstepbystepoperation.Numberofpulsescanbecontrolledbycontrollingtheangulardisplacement,soastoachieveaccuratepositioningpurposes;thesametimebycontrollingthepulsefrequencytocontrolthemotorrotationspeedandacceleration,toachievespeedcontrolpurposes.

1Work

Inductionmotorisasteppermotor,doesitworkistheuseofelectroniccircuits,theDCpowersupplyintoatime-sharing,multi-phasetimingcontrolcurrent,thiscurrentsteppermotorpowersupply,thesteppermotortoworkproperly,Thedriveissharingpowersupplyforthesteppermotor,thepolyphasetimingcontroller.

Althoughthesteppermotorhasbeenwidelyused,butthesteppermotordoesnotlikeanormalDCmotor,ACmotorintheconventionaluse.Itmustbedouble-ringpulsesignal;powerdrivercircuitcomposedofthecontrolsystemcanbeused.Therefore,itisnoteasywithagoodsteppingmotor,whichinvolvesmechanical,electrical,electronicsandcomputers,andmuchotherspecializedknowledge.

Asthesteppermotoractuators,electromechanicalintegration,oneofthekeyproducts,widelyusedinavarietyofautomaticcontrolsystems.Withthedevelopmentofmicroelectronicsandcomputertechnology,increasingdemandforsteppermotorhasapplicationsinallareasofthenationaleconomy.

2Categories

Nowmorecommonlyusedincludethereactionofstepmotorsteppermotor（VR）,permanentmagnetsteppermotor（PM）,hybridsteppermotors（HB）andsingle-phasesteppermotor.

3Permanentmagnetsteppermotor

Permanentmagnetsteppermotorisgenerallytwo-phase,torque,andsmaller,usually7.5degreestepangleor15degrees;

Permanentmagnetsteppermotoroutputtorque,dynamicperformance,butalargestepangle.

4ReactionStepperMotor

Reactionisgenerallythree-phasesteppingmotorcanachievehightorqueoutput,stepangleof1.5degreesisgenerally,butthenoiseandvibrationarelarge.Reactionbythesteppermotorrotormagneticcircuitmadeofsoftmagneticmaterials,anumberofthestatorphaseexcitationwinding,theuseofpermeabilitychangesintorque.

StepMotorsimplestructure,lowproductioncosts,stepangleissmall;butthedynamicperformanceispoor.

5HybridSteppingMotor

HybridStepMotorcombinesreactive,permanentmagnetsteppermotorsofboth,it'sasmallstepangle,contributealarge,dynamicperformance,iscurrentlythehighestperformancesteppermotor.ItisalsosometimesreferredtoasPermanentMagnetInductionSteppingMotor.Itconsistsoftwophasesandthefive-phase:

thegeneraltwo-phasestepangleof1.8degreesandthegeneralfive-phasestepangle0.72degrees.ThemostwidelyusedStepperMotor.Steppermotordriveforenergysaving

6Three-phasesteppermotordrivespecialfeatures:

◆180%lowtorqueoutput,lowfrequencycharacteristicsofagoodrun

◆Maximumoutputfrequency600Hz,high-speedmotorcontrol

◆fullrangeofdetectionofprotection（overvoltage,undervoltage,overload）instantaneouspowerfailurerestart

◆acceleration,deceleration,suchasdynamicchangeinthestallprotectionfunctiontoprevent

◆Electricaldynamicparametersofautomaticrecognitionfunctiontoensurestabilityandaccuracyofthesystem

◆quickresponseandhigh-speedshutdown

◆abundantandflexibleinputandoutputinterfaceandcontrol,versatility

◆useofSMTproductionandthreefull-mountanti-painttreatmentprocess,productstabilityandhigh

◆fullrangeofSiemensIGBTpowerdevicesusingthelatest,toensurethequalityofhigh-quality

7Basicprinciples

Usuallyforthepermanentmagnetrotormotor,whencurrentflowsthroughthestatorwindings,thestatorwindingsproduceamagneticfieldvector.Themagneticfieldwillleadtoarotorangleofthemagneticfieldmakesthedirectionofarotorandthestator'smagneticfielddirection.Whenthestatormagneticfieldvectorrotatingatanangle.Astherotormagneticfieldisalsotransferredfromanotherperspective.Anelectricalpulseforeachinput,themotorturningapointforward.Itisthe