[1]王纪伟,陈 刚,汪 俊.基于模糊免疫PID的驾驶机器人车辆路径及速度跟踪控制[J].南京理工大学学报(自然科学版),2017,41(06):686.[doi:10.14177/j.cnki.32-1397n.2017.41.06.004]
 Wang Jiwei,Chen Gang,Wang Jun.Vehicle path and speed tracking control of robotdriver based on fuzzy immune PID[J].Journal of Nanjing University of Science and Technology,2017,41(06):686.[doi:10.14177/j.cnki.32-1397n.2017.41.06.004]
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基于模糊免疫PID的驾驶机器人车辆路径及速度跟踪控制()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
41卷
期数:
2017年06期
页码:
686
栏目:
出版日期:
2017-12-31

文章信息/Info

Title:
Vehicle path and speed tracking control of robotdriver based on fuzzy immune PID
文章编号:
1005-9830(2017)06-0686-07
作者:
王纪伟陈 刚汪 俊
南京理工大学 机械工程学院,江苏 南京 210094
Author(s):
Wang JiweiChen GangWang Jun
School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China
关键词:
驾驶机器人 路径跟踪 速度跟踪 模糊控制 免疫控制 比例积分微分控制
Keywords:
robot driver path tracking speed tracking fuzzy control immune control proportional integration differential control
分类号:
U471.1
DOI:
10.14177/j.cnki.32-1397n.2017.41.06.004
摘要:
为了实现装备驾驶机器人车辆的路径及速度跟踪控制,提出了1种基于模糊免疫比例积分微分(PID)的控制方法。通过比较车辆实际行驶路径与期望路径的侧向偏差,模糊免疫比例路径跟踪控制器控制转向机械手操纵方向盘。通过计算期望车速与实际车速的偏差,模糊免疫PID速度跟踪控制器控制制动/油门机械腿分别操纵制动/油门踏板。通过引入车速反馈不断更新汽车的侧向加速度增益,实现了车辆转向控制与纵向车速控制的解耦。Carsim/Simulink软件的联合仿真结果显示,车辆路径跟踪和车速跟踪的最大误差分别为0.28 m和1 km/h。
Abstract:
A control method based on fuzzy immune proportional integration differential(PID)is proposed to realize the path and speed tracking control of a vehicle drove by a robot driver.A fuzzy immune proportional path tracking controller controls the steering manipulator on the steering wheel by calculating the lateral deviation between the expected vehicle path and the actual vehicle path.A fuzzy immune PID speed tracking controller controls the brake/accelerator mechanical leg on the brake/accelerator pedal respectively by calculating the deviation of expected speed and actual speed.The longitudinal speed control and the vehicle steering control are decoupled by updating the vehicle lateral acceleration gain of the vehicle speed feedback.The co-simulation results of Carsim/Simulink reveal the maximum error of vehicle path tracking and vehicle speed tracking is 0.28 m and 1 km/h.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2016-09-12 修回日期:2016-11-16
基金项目:国家自然科学基金(51675281; 51205208); 江苏省“六大人才高峰”计划(2015-JXQC-003); 中央高校基本科研业务费专项资金(30916011302; NJ20160037)
作者简介:王纪伟(1992-),男,硕士生,主要研究方向:汽车自动驾驶技术,E-mail:wangjiwei17@163.com; 通讯作者:陈刚(1981-),男,博士,副教授,主要研究方向:无人驾驶机器人与自动驾驶车辆技术,E-mail:gang0418@163.com。
引文格式:王纪伟,陈刚,汪俊.基于模糊免疫PID的驾驶机器人车辆路径及速度跟踪控制[J].南京理工大学学报,2017,41(6):686-692.
投稿网址:http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2017-12-31