通过对自动导航车系统的模拟——比较FLC和PID控制法

近年来,随着控制车辆速度和转向技术的飞速发展,特别适应于先进车辆的导航和移动机器人控制系统。在这方面,已经有很多的报道,但却没有精确的实验模拟曲线验证,文中借助对直流电机控制的导航控制系统,分别用PID算法和模糊逻辑控制法(FLC)来模拟,结果显示FLC法明显优于PID算法,特别优于在跟踪精度、稳定状态和鲁棒性上。

Comparison of the Method of FLC with PID Through Analogy an AGV

In recent years,the development of techniques for lateral and longitudinal Control of vehicles has become very important,especially suited the advanced autonomous guided vehicles(AGV) and mobile robots.In this field,there has been much literature published,although not so much actual practice,it has used the direct current motor of AGV to perform analogical results to demonstrate that the fuzzy logic controllers outperform convention PID schemes,particularly in tracking accuracy,steady-state error and robustness.