| 基于分数阶PID控制器的智能车控制 |
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| 引用本文： | 吴振宇,赵亮,冯林.基于分数阶PID控制器的智能车控制[J].控制工程,2011,18(3):401-404. |
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| 作者姓名： | 吴振宇 赵亮 冯林 |
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| 作者单位： | 大连理工大学,创新实验学院,辽宁,大连,116024 |
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| 基金项目： | 辽宁省自然科学基金(20071092) |
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| 摘 要： | 针对智能车高速行驶下对目标轨迹的快速跟踪要求,结合预瞄跟随理论设计了分数阶PID控制器(FOPID).分数阶PID比传统PID控制器多两个参数自由度,所以在设计过程中有更大的灵活性.利用改进Oustaloup数字实现算法,框图化实现分数阶PID控制器,通过遗传算法对IAE性能指标寻优整定FOC参数并应用于智能车被控系统...
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| 关 键 词： | 预瞄跟随 智能车 分数阶PID |
Control of Intelligent Vehicle Based on Fractional Order PID |
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| WU Zhen-yu,ZHAO Liang,FENG Lin.Control of Intelligent Vehicle Based on Fractional Order PID[J].Control Engineering of China,2011,18(3):401-404. |
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| Authors: | WU Zhen-yu ZHAO Liang FENG Lin |
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| Affiliation: | WU Zhen-yu,ZHAO Liang,FENG Lin(School of Innovation Experiment,Dalian University of Technology,Dalian 116024,China) |
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| Abstract: | A fractional order PID controller(FOPID)which is used for smart car path-tracking control under high speed condition was designed based on preview-follower theory.A fractional order PID controller has 2 more degrees of freedom than classical PID controller,so it is more flexible when designing.Improved Oustaloup algorithm was used to implement the fractional order controller.Parameters of the controller is tuned by IAE performance optimization with genetic algorithm to fit the smart car control system.Simul... |
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| Keywords: | preview follower intelligent vehicle fractional-order PID |
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