基于模糊逻辑的交通信号控制系统的设计与仿真
摘要
本文以城市干道上的两个相邻交叉路口为控制对象,设计了一套交通信号控制系统,并分别从硬件和软件方面,对以可编程逻辑控制器(Programmble Logical Controller,简称PLC)为主控制器的交通信号控制系统的整体设计进行了介绍。
本系统的硬件电路主要包括:主控部分、车流量检测部分、通信接口电路、异常诊断与定位电路和保安控制电路等。在设计硬件时,为了减少控制系统的成本和体积,采用了由PC作为上位机,PLC作为下位机,以及单片机作为传感器信号采集与处理装置的方法来组成现场总线结构,并给出了实现PC与PLC间通信,以及PLC与单片机间通信的方法。
本系统的软件设计由数据采集与处理部分程序和主控部分程序组成。主控部分程序可以实现信号控制系统的四种不同的控制方式:手动控制方式、多时段控制方式,闪光控制方式和感应控制方式。在感应控制方式中,基于大系统的分解—协调控制原理,对控制干道上两个相邻路口的系统提出了两级模糊协调控制结构。第一级为控制级,由两个相似的模糊控制器构成,用来调整各个路口的信号周期和绿信比;第二级为协调级,根据测得的交通流数据协调相邻子系统间的车辆数,以使车辆的平均延误时间尽可能小。
最后,用Matlab软件对该系统的感应控制方式进行仿真,仿真结果表明控制效果优于传统的定时控制,证明了本文提出的基于模糊控制的交通信号控制系统在提高城市道路通行方面具有一定的现实意义。
The thesis designs a new traffic signal control system which takes the two-adjacent intersections on the urban traffic trunk road as a control object. The overall hardware and software design of the traffic signal system which uses the PLC as the host controller is introduced.
The system hardware circuits include the main control circuits, the communication interface circuits, the abnormity diagnose and orientation circuits, the control circuits, etc. In order to reduce the costs and volume of the control system, a fieldbus structure which adopts the method of taking a PC as host computer, PLC as a client computer, as well as monochip as a sensor signal acquisition equipment, and the implementation methods of communication between PC and PLC, as well as communication between PLC and monochip are presented.
The system software design consists of the program for the data collection and processing part and the program for the main control part. The program for the main control part could implement four different control modes of the signal control system, which include the manually control mode, time-division control mode, light-flicker control mode, and actuated control mode. Based on the principle of decomposition-coordination for large scale systems, a two-level coordinated fuzzy control structure is used in the actuated control mode of the system which controls two-adjacent intersections on the trunk road. The first layer which consists of two kindred fuzzy controllers adjusts the cycle and splits of every intersection. Based on the traffic volume data measured from every intersection, the second layer coordinates the vehicle number between the adjacent intersections to make the average vehicle delay time shorten.
In the end of the thesis, the actuated control mode is simulated by using Matlab, and the simulation indicates that the control effect is better than the conventional time-fixed mode, which proves that the traffic signal control system based on fuzzy logic in the thesis is practical and significant to improve the traffic ability of the urban roads.
本系统的硬件电路主要包括:主控部分、车流量检测部分、通信接口电路、异常诊断与定位电路和保安控制电路等。在设计硬件时,为了减少控制系统的成本和体积,采用了由PC作为上位机,PLC作为下位机,以及单片机作为传感器信号采集与处理装置的方法来组成现场总线结构,并给出了实现PC与PLC间通信,以及PLC与单片机间通信的方法。
本系统的软件设计由数据采集与处理部分程序和主控部分程序组成。主控部分程序可以实现信号控制系统的四种不同的控制方式:手动控制方式、多时段控制方式,闪光控制方式和感应控制方式。在感应控制方式中,基于大系统的分解—协调控制原理,对控制干道上两个相邻路口的系统提出了两级模糊协调控制结构。第一级为控制级,由两个相似的模糊控制器构成,用来调整各个路口的信号周期和绿信比;第二级为协调级,根据测得的交通流数据协调相邻子系统间的车辆数,以使车辆的平均延误时间尽可能小。
最后,用Matlab软件对该系统的感应控制方式进行仿真,仿真结果表明控制效果优于传统的定时控制,证明了本文提出的基于模糊控制的交通信号控制系统在提高城市道路通行方面具有一定的现实意义。
The thesis designs a new traffic signal control system which takes the two-adjacent intersections on the urban traffic trunk road as a control object. The overall hardware and software design of the traffic signal system which uses the PLC as the host controller is introduced.
The system hardware circuits include the main control circuits, the communication interface circuits, the abnormity diagnose and orientation circuits, the control circuits, etc. In order to reduce the costs and volume of the control system, a fieldbus structure which adopts the method of taking a PC as host computer, PLC as a client computer, as well as monochip as a sensor signal acquisition equipment, and the implementation methods of communication between PC and PLC, as well as communication between PLC and monochip are presented.
The system software design consists of the program for the data collection and processing part and the program for the main control part. The program for the main control part could implement four different control modes of the signal control system, which include the manually control mode, time-division control mode, light-flicker control mode, and actuated control mode. Based on the principle of decomposition-coordination for large scale systems, a two-level coordinated fuzzy control structure is used in the actuated control mode of the system which controls two-adjacent intersections on the trunk road. The first layer which consists of two kindred fuzzy controllers adjusts the cycle and splits of every intersection. Based on the traffic volume data measured from every intersection, the second layer coordinates the vehicle number between the adjacent intersections to make the average vehicle delay time shorten.
In the end of the thesis, the actuated control mode is simulated by using Matlab, and the simulation indicates that the control effect is better than the conventional time-fixed mode, which proves that the traffic signal control system based on fuzzy logic in the thesis is practical and significant to improve the traffic ability of the urban roads.
引文
[1]张飞舟,范耀祖.交通控制工程[M].北京:中国铁道出版社,2005.
[2]尹宏宾,徐建闽.道路交通控制技术[M].广州:华南理工大学,2000.
[3]安实,王健,徐亚国等.城市智能交通管理技术与应用[M].北京:科学出版社,2005.
[4]韩俊峰,李玉惠等.模糊控制技术[M].重庆:重庆大学出版社,2003.
[5]张国良,曾静.模糊控制及其MATLAB应用[M].西安:西安交通大学出版社,2002.
[6]王士同.模糊推理理论与模糊专家系统[M].上海:上海科学技术文献出版社,1995.
[7]裴玉龙,张亚平.道路交通系统仿真[M].北京:人民交通出版社,2004.
[8]汤兵勇,路林吉等.模糊控制理论与应用技术[M].北京:清华大学出版社,2002.
[9]曾光奇,胡君安.模糊控制理论与工程应用[M].武汉:华中科技大学出版社,2006.
[10]楼顺天,胡昌华,张伟.基于MATLAB的系统分析与设计——模糊系统[M].西安:西安电子科技大学出版社,2001.
[11]邱晓林,李天柁等.基于MATLAB的动态模型与统系仿真工具——Simulink 3.0/4.X[M].西安:西安交通大学出版社,2003.
[12]国家智能交通系统工程技术研究中心.中国智能交通系统文集[M].北京:中国铁道出版社,2005.
[13]张运刚,宋小春.从入门到精通——西门子S7-200PLC技术与应用[M].北京:人民邮电出版社,2007.
[14]隋振有,隋凤香.可编程控制器应用解析[M].北京:中国电力出版社,2006.
[15]房小翠等.单片微型计算机与机电接口技术[M].北京:国防工业出版社,2004.
[16]张曾科.模糊数学在自动化技术中的应用[M].北京,清华大学出版社,1997.
[17]诸静等.模糊控制原理与应用[M].北京:人民交通出版社,1999.
[18]徐继峰.智能交通信号控制系统的设计与研究[D].北京:北京工商大学,2007.
[19]李国勇.智能控制及其MATLAB实现[M].北京:电子工业出版社,2005.
[20]赵建玉,贾磊等.干道交叉口交通信号的模糊控制设计[J].山东大学学报,2006,36(1):46-49.
[21]李晓辉.单片机与PLC通信的研究与应用[J].计算机网络与通信,2006,28(3):35-37.
[22]李灵犀,高海军等.两相邻路口交通信号的协调控制[J].自动化学报,2003,29(6):947-951.
[23]曹洁,苏玉萍等.城市交通信号灯两级模糊控制及仿真研究[J].交通与计算机,2007,25(1):82-85.
[24]魏巍,田芳方.S7-200PLC与上位机串行通信设计[J].煤矿现代化,2006,71(2),46-47.
[25]张学志.基于模糊逻辑的城市交通单路口复合式信号控制[D].长沙:国防科技大学,2004.
[26]段里仁.道路交通自动控制[M].北京:中国人民公安大学出版社,1991.
[27]陈宇.可编程序控制器基础及编程技巧[M].广州:华南理工大学出版社,2000.
[28]于德新,杨兆升等.城市主干道的多路口模糊协调控制[J].吉林大学学报(工学版),2006,36:148-152.
[29] Yang H, Yagar S.Traffic Equilibrium with Responsive Traffic Control[J].Transportation Science, 1993, 27.
[30]沈国江,孙优贤等.城市交通干线递阶模糊控制及其神经网络实现[J].系统工程理论与实践,2004(4),100-105.
[31] Ceylan H, Bell M G H.2004. Traffic signal timing optimisation based on genetic algorithm approach, including drivers’routing[J].Transportation Research Part B, 2004, 3。
[32] Yamakawa T.High speed fuzzy controller hardware system[M].In Proc.2nd Guzzy SystemSymo.Japan, 1986.
[33] Pappies C P, Mamdani E H.A Fuzzy Logic Controller for a Traffic Junction[J].IEEE Trans.On System, Man and Cybernetics.Vol.SMC-7, No.10.
[34] Claudio Moraga Introduction to Fuzzy Logic[J], FACTA UNIVERSITATIS SER: ELEC ENERC.Vol.18, No.2, August 2005.
[35] Elahi S M, Rad wan A E Goul K M.Knowledge based system for adaptive traffic signal control[M], Transportation Research Record.1994.
[36] Kevin M.Passion, Stephen Yurkovich.Fuzzy control[M].Tsinghua University Press: Addison-Wesley, 2001.
[37] Mirchandani P, Head L.a real-time traffic signal control system architecture algorithms and analysis[M].Transportation Research Part C, 2000, 8.
[38] Jarkko Niittymaki, Shinya Kikuchi.Application of Fuzzy Logic to the Control of a Pedestrian Crossing Signal[M].Transportation Research Record, 1651.
[39]杨龙海,李丽兰等.城市信号控制交叉口交通微观仿真研究[J].哈尔滨工业大学学报,2006,38(8):1239-1242.
[40] Roger Jang J S, Sun C T, Mizutani E. Neuro-Fuzzy and soft computing: A computational approach to learning and machine intelligence. Printice-Hall [M], Inc. ,1997.
[41] Roger Jang J S, MATLAB Fuzzy Logical Toolbox [M]. The Mathworks Inc, 1997.
[42] KIM Jong-wang, A fuzzy logic control simulator for adaptive traffic management [A]. FUZZ-IEEE’97 [C]. Spain: The IEEE neural Network Council, 1997.
[43] GERSON Beauchamp-baez, A Fuzzy logic based phase controller for traffic control [A]. FUZZ-IEE’97 [C]. Spain: The IEEE Neural Network Council, 1997, 1533—1539.
[2]尹宏宾,徐建闽.道路交通控制技术[M].广州:华南理工大学,2000.
[3]安实,王健,徐亚国等.城市智能交通管理技术与应用[M].北京:科学出版社,2005.
[4]韩俊峰,李玉惠等.模糊控制技术[M].重庆:重庆大学出版社,2003.
[5]张国良,曾静.模糊控制及其MATLAB应用[M].西安:西安交通大学出版社,2002.
[6]王士同.模糊推理理论与模糊专家系统[M].上海:上海科学技术文献出版社,1995.
[7]裴玉龙,张亚平.道路交通系统仿真[M].北京:人民交通出版社,2004.
[8]汤兵勇,路林吉等.模糊控制理论与应用技术[M].北京:清华大学出版社,2002.
[9]曾光奇,胡君安.模糊控制理论与工程应用[M].武汉:华中科技大学出版社,2006.
[10]楼顺天,胡昌华,张伟.基于MATLAB的系统分析与设计——模糊系统[M].西安:西安电子科技大学出版社,2001.
[11]邱晓林,李天柁等.基于MATLAB的动态模型与统系仿真工具——Simulink 3.0/4.X[M].西安:西安交通大学出版社,2003.
[12]国家智能交通系统工程技术研究中心.中国智能交通系统文集[M].北京:中国铁道出版社,2005.
[13]张运刚,宋小春.从入门到精通——西门子S7-200PLC技术与应用[M].北京:人民邮电出版社,2007.
[14]隋振有,隋凤香.可编程控制器应用解析[M].北京:中国电力出版社,2006.
[15]房小翠等.单片微型计算机与机电接口技术[M].北京:国防工业出版社,2004.
[16]张曾科.模糊数学在自动化技术中的应用[M].北京,清华大学出版社,1997.
[17]诸静等.模糊控制原理与应用[M].北京:人民交通出版社,1999.
[18]徐继峰.智能交通信号控制系统的设计与研究[D].北京:北京工商大学,2007.
[19]李国勇.智能控制及其MATLAB实现[M].北京:电子工业出版社,2005.
[20]赵建玉,贾磊等.干道交叉口交通信号的模糊控制设计[J].山东大学学报,2006,36(1):46-49.
[21]李晓辉.单片机与PLC通信的研究与应用[J].计算机网络与通信,2006,28(3):35-37.
[22]李灵犀,高海军等.两相邻路口交通信号的协调控制[J].自动化学报,2003,29(6):947-951.
[23]曹洁,苏玉萍等.城市交通信号灯两级模糊控制及仿真研究[J].交通与计算机,2007,25(1):82-85.
[24]魏巍,田芳方.S7-200PLC与上位机串行通信设计[J].煤矿现代化,2006,71(2),46-47.
[25]张学志.基于模糊逻辑的城市交通单路口复合式信号控制[D].长沙:国防科技大学,2004.
[26]段里仁.道路交通自动控制[M].北京:中国人民公安大学出版社,1991.
[27]陈宇.可编程序控制器基础及编程技巧[M].广州:华南理工大学出版社,2000.
[28]于德新,杨兆升等.城市主干道的多路口模糊协调控制[J].吉林大学学报(工学版),2006,36:148-152.
[29] Yang H, Yagar S.Traffic Equilibrium with Responsive Traffic Control[J].Transportation Science, 1993, 27.
[30]沈国江,孙优贤等.城市交通干线递阶模糊控制及其神经网络实现[J].系统工程理论与实践,2004(4),100-105.
[31] Ceylan H, Bell M G H.2004. Traffic signal timing optimisation based on genetic algorithm approach, including drivers’routing[J].Transportation Research Part B, 2004, 3。
[32] Yamakawa T.High speed fuzzy controller hardware system[M].In Proc.2nd Guzzy SystemSymo.Japan, 1986.
[33] Pappies C P, Mamdani E H.A Fuzzy Logic Controller for a Traffic Junction[J].IEEE Trans.On System, Man and Cybernetics.Vol.SMC-7, No.10.
[34] Claudio Moraga Introduction to Fuzzy Logic[J], FACTA UNIVERSITATIS SER: ELEC ENERC.Vol.18, No.2, August 2005.
[35] Elahi S M, Rad wan A E Goul K M.Knowledge based system for adaptive traffic signal control[M], Transportation Research Record.1994.
[36] Kevin M.Passion, Stephen Yurkovich.Fuzzy control[M].Tsinghua University Press: Addison-Wesley, 2001.
[37] Mirchandani P, Head L.a real-time traffic signal control system architecture algorithms and analysis[M].Transportation Research Part C, 2000, 8.
[38] Jarkko Niittymaki, Shinya Kikuchi.Application of Fuzzy Logic to the Control of a Pedestrian Crossing Signal[M].Transportation Research Record, 1651.
[39]杨龙海,李丽兰等.城市信号控制交叉口交通微观仿真研究[J].哈尔滨工业大学学报,2006,38(8):1239-1242.
[40] Roger Jang J S, Sun C T, Mizutani E. Neuro-Fuzzy and soft computing: A computational approach to learning and machine intelligence. Printice-Hall [M], Inc. ,1997.
[41] Roger Jang J S, MATLAB Fuzzy Logical Toolbox [M]. The Mathworks Inc, 1997.
[42] KIM Jong-wang, A fuzzy logic control simulator for adaptive traffic management [A]. FUZZ-IEEE’97 [C]. Spain: The IEEE neural Network Council, 1997.
[43] GERSON Beauchamp-baez, A Fuzzy logic based phase controller for traffic control [A]. FUZZ-IEE’97 [C]. Spain: The IEEE Neural Network Council, 1997, 1533—1539.