Fuzzy PID Coordinated Control of Longitudinal and Transverse Motion of Automotive Driving Robots
The control of the vehicle is affected by many factors,including its own dynamic limitations,the error of the sensor and the change of the surrounding environment,which leads to the deviation in the control execution process and affects the con-trol performance of the robot.Therefore,a fuzzy PID coordinated control method for automotive autonomous driving robot is pro-posed.Based on the system structure of the vehicle driving robot,the coupling dynamics model is established from both vertical and lateral control dynamics equations,and fuzzy PID adaptive control strategy is used to control the shifting manipulator.On the basis of the robot dynamics model,the expected value of motor torque is obtained,and the speed controller is designed to adjust the input current of the motor according to the current and expected speed of the motor,so as to change the speed of the motor,and realize the fuzzy PID coordination control of the automatic driving robot.The experimental results show that in the shift test and speed test of the proposed method,the X-axis displacement ranges from 20 to 80mm,the joint driving torque ranges from 20100 to 20800N·mm,and the velocity curve ranges from 5 to 35km/h,and the control curve is consistent with the expected value.
Driving RobotVertical and Horizontal MovementCoupled Dynamics ModelFuzzy Pid Adaptive Control
万方数据
维普
