| 模糊控制在自主循迹模型车控制中的应用 |
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| 引用本文： | 鲍存会.模糊控制在自主循迹模型车控制中的应用[J].陕西工学院学报,2011(1):16-20. |
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| 作者姓名： | 鲍存会 |
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| 作者单位： | 陕西理工学院电气工程系,陕西汉中723003 |
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| 基金项目： | 陕西理工学院科研基金项目（SLG0738） |
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| 摘 要： | 以＂飞思卡尔＂杯模型车为研究对象,给出了一种基于道路信息的自主循迹模型车的二维模糊控制策略。该控制器以传感器与道路中心引导线的偏差及偏差的变化率作为控制器的输入,经过模糊推理,输出控制舵机转角及模型车速度,输入、输出隶属度函数采用矩形函数,该方法缩短了系统执行时间,提高了系统的响应速度。通过实际跑车,证明该方案设计合理、可行,能以较高的车速跟随给定路径。
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| 关 键 词： | 模型车 自主循迹 模糊控制 软件流程 |
Application of fuzzy control in the control of autonomous tracing model vehicles |
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| BAO Cun-hui.Application of fuzzy control in the control of autonomous tracing model vehicles[J].Journal of Shaanxi Institute of Technology,2011(1):16-20. |
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| Authors: | BAO Cun-hui |
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| Affiliation: | BAO Cun-hui(Department of Electrical Engineering,Shaanxi University of Technology,Hanzhong 723003,China) |
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| Abstract: | By using the Freescal cup model car as the research object,this paper put forward a method based on the road of independent follow information model car tracing based on the two-dimensional fuzzy control strategy.The inputs of the controller were the sensor and the center of road deviation and the deviation rate.After the fuzzy reasoning,the control steering angle and model cars′ s peed were used as the output.The membership function of the input and output used rectangular function,which shortened the time taken and improved the response speed of the system.Through practical operation,it is proved that this control scheme design is reasonable and practicable,and the smart car can fellow the road preferably with high speed. |
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| Keywords: | model vehicle autonomous tracing fuzzy control software process |
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