无舵机转向系统原理分析与控制研究
|
摘要
针对现有研究中无舵机转向仍处于一个尚未开发的阶段,分析了无舵机转向的原理,并推导了无舵机转向的转向角计算公式。设计了无舵机转向的控制系统,利用模糊PID控制中对偏差的智能化处理,引入智能分段控制概念,根据实际转角与目标转角的差值的大小,改变PID中的控制参数,以自动适应调整转速控制的响应速度等一系列特点,控制电机的转速输出以调节转向角。利用Matlab/Simulink建立了控制系统仿真模型进行了仿真分析,并在实物平板代步车中加以实验验证。
In view of the existing research,steering without steering gear is still in the undeveloped phase,the principle of steering is analyzed,and the calculation formula of steering angle is derived. By using the intelligent processing of deviation in fuzzy PID control,the concept of intelligent subsection control is introduced. According to the difference between the actual angle and the angle of the target,the control parameters of the PID are changed,the response speed of the control speed is adjusted automatically,and the output of the speed of the motor is controlled to adjust the turning angle. The simulation model of the control system is established by using Matlab/Simulink,and in the real flat scooter is validated.
In view of the existing research,steering without steering gear is still in the undeveloped phase,the principle of steering is analyzed,and the calculation formula of steering angle is derived. By using the intelligent processing of deviation in fuzzy PID control,the concept of intelligent subsection control is introduced. According to the difference between the actual angle and the angle of the target,the control parameters of the PID are changed,the response speed of the control speed is adjusted automatically,and the output of the speed of the motor is controlled to adjust the turning angle. The simulation model of the control system is established by using Matlab/Simulink,and in the real flat scooter is validated.
引文
[1]贺益康,许大中.电机控制[D].杭州:浙江大学出版社,2010(5).(He Yi-kang,Xu Da-zhong.Motor control[D].Hangzhou:Zhejiang University Press,2010(5).)
[2]王述彦,师宇,冯忠绪.基于模糊PID控制器的控制方法研究[J].机械科学与技术,2011(1):166-172.(Wang Shu-yan,Shi Yu,Feng Zhong-xu.Research on the control method of fuzzy PID controller[J].Mechanical Science and Technology,2011(1):166-172.)
[3]韦庆志,李正明,孙俊.基于模糊自适应PID控制的锅炉过热蒸汽温度控制系统[J].机械设计与制造,2010(7):173-175.(Wei Qing-zhi,Li Zheng-ming,Sun Jun.Boiler superheated steam temperature control system based on fuzzy adaptive PID control[J].Machinery Design and Manufacture,2010(7):173-175.)
[4]舒志兵,周玮,李运华.交流伺服运动控制系统[D].北京:清华大学出版社,2006(3).(Shu Zhi-bing,Zhou Wei,Li Yun-hua.AC servo motion control system[D].Beijing:Tsinghua University Press,2006(3).)
[5]陈鹏,段凤阳,张庆杰.基于模糊PID的无人机姿态控制器的设计[J].弹箭与制导学报,2015(1):9-11.(Chen Peng,Duan Feng-yang,Zhang Qing-jie.Design of UAV posture controller based on fuzzy PID[J].Journal of Missile and Guidance,2015(1):9-11.)
[6]刘海珊,陈宇晨.无刷直流电机PID控制系统仿真及实验研究[J].系统仿真学报,2009(16):5157-5160.(Liu Hai-shan,Chen Yu-chen.Simulation and experimental research on PID control system of brushless DC motor[J].Journal of System Simulation,2009(16):5157-5160.)
[7]李毅,温正忠.风力发电偏航系统的PID-Fuzzy分段复合控制研究[J].机械设计与制造,2007(4):54-55.(Li Yi,Wen Zheng-zhong.Research on PID-Fuzzy segment composite control of wind power generation yaw system[J].Machinery Design and Manufacture,2007(4):54-55.)
[8]仇成群,刘成林,沈法华.基于Matlab和模糊PID的汽车巡航控制系统设计[J].农业工程学报,2012(6):197-202.(Chou Li-qun,Liu Cheng-lin,Shen Fa-hua.Design of vehicle cruise control system based on Matlab and fuzzy PID[J].Journal of Agricultural Engineering,2012(6):197-202.)
[9]郭景华,胡平,李琳辉.基于遗传优化的无人车横向模糊控制[J].机械工程学报,2012(6):76-82.(Guo Jing-hua,Hu Ping,Li Lin-hui.Lateral fuzzy control of unmanned vehicle based on genetic optimization[J].Journal of Mechanical Engineering,2012(6):76-82.)
[10]姜杉,冯文浩,杨志永.基于模糊PID调节的核磁兼容机器人气动控制技术[J].机器人,2012,34(5):521-538.(Jiang Shan,Feng Wen-hao,Yang Zhi-yong.Dynamic control technology of nuclear magnetic compatibility based on fuzzy PID control[J].The Robot,2012,34(5):521-538.)
[2]王述彦,师宇,冯忠绪.基于模糊PID控制器的控制方法研究[J].机械科学与技术,2011(1):166-172.(Wang Shu-yan,Shi Yu,Feng Zhong-xu.Research on the control method of fuzzy PID controller[J].Mechanical Science and Technology,2011(1):166-172.)
[3]韦庆志,李正明,孙俊.基于模糊自适应PID控制的锅炉过热蒸汽温度控制系统[J].机械设计与制造,2010(7):173-175.(Wei Qing-zhi,Li Zheng-ming,Sun Jun.Boiler superheated steam temperature control system based on fuzzy adaptive PID control[J].Machinery Design and Manufacture,2010(7):173-175.)
[4]舒志兵,周玮,李运华.交流伺服运动控制系统[D].北京:清华大学出版社,2006(3).(Shu Zhi-bing,Zhou Wei,Li Yun-hua.AC servo motion control system[D].Beijing:Tsinghua University Press,2006(3).)
[5]陈鹏,段凤阳,张庆杰.基于模糊PID的无人机姿态控制器的设计[J].弹箭与制导学报,2015(1):9-11.(Chen Peng,Duan Feng-yang,Zhang Qing-jie.Design of UAV posture controller based on fuzzy PID[J].Journal of Missile and Guidance,2015(1):9-11.)
[6]刘海珊,陈宇晨.无刷直流电机PID控制系统仿真及实验研究[J].系统仿真学报,2009(16):5157-5160.(Liu Hai-shan,Chen Yu-chen.Simulation and experimental research on PID control system of brushless DC motor[J].Journal of System Simulation,2009(16):5157-5160.)
[7]李毅,温正忠.风力发电偏航系统的PID-Fuzzy分段复合控制研究[J].机械设计与制造,2007(4):54-55.(Li Yi,Wen Zheng-zhong.Research on PID-Fuzzy segment composite control of wind power generation yaw system[J].Machinery Design and Manufacture,2007(4):54-55.)
[8]仇成群,刘成林,沈法华.基于Matlab和模糊PID的汽车巡航控制系统设计[J].农业工程学报,2012(6):197-202.(Chou Li-qun,Liu Cheng-lin,Shen Fa-hua.Design of vehicle cruise control system based on Matlab and fuzzy PID[J].Journal of Agricultural Engineering,2012(6):197-202.)
[9]郭景华,胡平,李琳辉.基于遗传优化的无人车横向模糊控制[J].机械工程学报,2012(6):76-82.(Guo Jing-hua,Hu Ping,Li Lin-hui.Lateral fuzzy control of unmanned vehicle based on genetic optimization[J].Journal of Mechanical Engineering,2012(6):76-82.)
[10]姜杉,冯文浩,杨志永.基于模糊PID调节的核磁兼容机器人气动控制技术[J].机器人,2012,34(5):521-538.(Jiang Shan,Feng Wen-hao,Yang Zhi-yong.Dynamic control technology of nuclear magnetic compatibility based on fuzzy PID control[J].The Robot,2012,34(5):521-538.)