1、 安徽理工大学 自动化专业本科毕业设计英文翻译 学院 (部 )： 电气与信息工程学院 专业班级： 自动化 0 班 学生姓名： x x x 指导教师： 讲师 年 月 日 1 Implementation of Fuzzy-PID in Smart Car Control Abstract An unmanued smart car control system and the fuzzy-PID control algorithm are produced . A design scheme of fuzzy-PID controller is put forward. The simulati
2、on analysis from matlab indicated that the dynamic performance of fuzzy-PID control algorithm is better than that of usual PID. Experimental result of smart car show that it can follow the black guide line well and fast-stable complete running the whole trip. Keywords fuzzy-PID； smart car； fuzzy con
3、troller； fuzzy control 1 Introduction In recent years, many countries are developing unmanned vehicle technology. This gives birth to many new theories and applied technology. Reference1 presents the theory of turn ahead which uses real-time monitoring speed to change the turn-in point dynamically,
4、then it implements the control strategy to achieve a perfect characteristics of steering. Reference2 uses edge detection algorithm to extract track information and adopt P control. Reference3 proposes a efficient, good anti-jamming and adaptive image processing dynamic algorithm which effectively so
5、lves the out of track caused by the changes of ambient light and track. Reference4 reconstructs spatial relationships of track and calibrates camera using nonlinear optimization, then it can measure lateral deviation accurately. The above improve vehicle performance in one way but they are all lack
6、of characteristics of car movement and based on lots of experiments. A fuzzy-PID control algorithm and a design scheme of fuzzy-PID controller are put forward in this paper. At last, the experimental result is given out to prove the validity of fuzzy-PID. 2 Hardware system design To implement the de
7、sign of fuzzy-PID algorithm, its necessary to design a hardware system of smart car. Smart car would have a smart control unite which contain detection of guide line, steering angle value, speed value and so on. See details in Fig.1. 2 Fig.1 The functional block diagram of smart car 3 Basic principl
8、e of fuzzy-PID Its difficult for usual PID control algorithm to achieve the best effect. Because, the parameters Kp, Ki, Kd cant adjust to different object or different state of the same object. Fuzzy control is based on fuzzy set and fuzzy logic. Without precise mathematical model it can determine
9、the size of controlled variable according the rule table organized by experience. In general, fuzzy control input variables are based on system error E and error change EC, which is similar to PD control. Such control might have a good dynamic characteristic, but the static performance is not satisf
10、actory. Combining fuzzy control and PID control, this would make a system have both flexibility-adaptablity of fuzzy control and high accuracy of PID control.Fig.2 shows the structure diagram of fuzzy-PID control system, in which fuzzy controller is responsible for selecting a different PID parameter to improve the local performance thus increasing over all performance.
