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在自行设计的智能车中,速度和方向的控制是整个智能车系统控制的核心。由于系统硬件的限制,智能车的速度和方向控制都存在一定的延时,这给智能车的控制带来了不利影响。针对上述存在的问题,本文将前馈反馈控制方法运用到智能车的控制上,对偏差带来的干扰进行提前处理;改进了数字PID算法,将不完全微分和微分现行算法引入到PID算法中,以改善系统的动态性能。采用了这种新算法,智能车系统的动态性能得到了很大的改善。
In the design of smart cars, speed and direction control is the core of the entire smart car system control. Due to the limitation of the system hardware, there is a certain delay in the speed and direction control of the smart car, which has adversely affected the control of the smart car. In view of the problems mentioned above, this paper applies the feedforward feedback control method to the control of the intelligent vehicle, and preprocesses the interference caused by the deviation. The digital PID algorithm is improved, and the existing algorithms of incomplete and differential are introduced into the PID algorithm , To improve the dynamic performance of the system. With this new algorithm, the dynamic performance of the smart car system has been greatly improved.