| 内模PID控制器在智能车转向系统中的应用及仿真 |
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| 引用本文： | 秦刚,陈凯,高惠中,陆华颖.内模PID控制器在智能车转向系统中的应用及仿真[J].西安工业大学学报,2011(7):649-653,659. |
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| 作者姓名： | 秦刚 陈凯 高惠中 陆华颖 |
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| 作者单位： | [1]西安工业大学电子信息工程学院,西安710032 [2]西安交通大学电子与信息工程学院,西安710049 |
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| 摘 要： | 针对智能车转向系统中模糊PID控制器参数调节复杂、适应能力较弱等问题，在分析内模控制与PID控制的内部对应关系的基础上，综合内模控制与模糊PID控制的优点，采用一种基于内部模型的PID控制器对系统进行控制．通过控制器在线仿真比较表明：内部模型的PID控制器不论在系统阶跃响应还是扰动跟踪等控制结果上均能到达模糊PID控制的要求，同时降低了参数设计的复杂性和随机性．
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| 关 键 词： | 模糊PID 内模控制 IMC-PID 智能车 转向控制 |
Application of Internal Model PID Controller in Steering System of Intelligent Vehicles |
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| Authors: | QIN Gang CHEN Kai GAO Hui-zhong LU Hua-ying |
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| Affiliation: | 1. School of Electronic Information Engineering, Xi＇ an Technological University, Xi ＇ an 710032, China; 2. School of Electronic and Information Engineering, Xi ＇an Jiaotong University, Xi＇ an 710049, China) |
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| Abstract: | The research aims to solve the problems of complex parameter adjustment and poor adaptability of the fuzzy PID controller in the steering system of intelligent vehicles. Based on the internal corresponding relationship between the Internal Model control and the fussy PID control and their advantages,an Internal Model PID controller was designed and applied to control the system. The online simulation of the controller shows that the Internal Model PID controller can not only meet the requirements of the fuzzy PID control either in system step response or disturbance tracking, but also reduce the complexity and randomness of parameters. |
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| Keywords: | fuzzy PID Internal Model control IMC-PID intelligent vehicle steering control |
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