基于模糊控制算法的智能车转向舵机控制

针对智能车辆自主寻迹问题,运用模糊控制算法对智能模型车的转向舵机进行控制。该算法通过对寻迹路径的偏差及偏差的导数进行模态划分,产生对应的控制规则,控制舵机的转角,以达到消除偏差的目的。该算法具有控制灵活、响应速度快、超调量小、鲁棒性强等优点。通过在实际模型车中的应用说明了该算法在这类系统的控制是可行的。

Steering Control of Intelligent Vehicle Based on the Synthesis of Fuzzy Control Arithmetic

For the auto-searching for track of intelligent vehicles,the synthesis of fuzzy control arithmetic are applied to the servo steeringof the vehicles.The algorithms take the deviation and deviation derivative of tracks to divide the several modalities and produce correspond-ing control rule,controls the servo the corner to eliminate deviation. It have the control nimbly,fast response,small overshoot,strong ro-bustness and so on. After applied in the actual model car,the algorithm for this kind of systematic control is feasible.