CAJ | 학술논문

针对传统PID控制算法对智能车的舵机和电机进行控制时，其控制参数很难随环境变化进行自整定，进而影响智能车的运行状态的问题，提出单神经元PID控制算法，该算法具有参数自整定能力强、现场调整参数少、调整周期短及稳定性好等优点。通过对智能车的系统结构和运动学模型进行分析，根据单神经元PID算法的控制策略，进行多种算法的仿真测试并将其应用在实际的智能车控制试验中。结果表明：单神经元PID控制算法能够使控制系统以较好的状态运行，实现智能车快速稳定的自主循迹行驶。
침대전통PID공제산법대지능차적타궤화전궤진행공제시，기공제삼수흔난수배경변화진행자정정，진이영향지능차적운행상태적문제，제출단신경원PID공제산법，해산법구유삼수자정정능력강、현장조정삼수소、조정주기단급은정성호등우점。통과대지능차적계통결구화운동학모형진행분석，근거단신경원PID산법적공제책략，진행다충산법적방진측시병장기응용재실제적지능차공제시험중。결과표명：단신경원PID공제산법능구사공제계통이교호적상태운행，실현지능차쾌속은정적자주순적행사。
Aiming at the traditional PID control ’ s difficulty in the self-tuning of control parameters which changing with the variance of circumstance, and its influence on running status of the intelligent car, the single neuron PID control algorithm was proposed.This control algorithm has strong self-tuning capability, fewer ad-justable parameters, shorter regulation period and better stability.Analyzing both system structure and kine-matics model of the intelligent car,simulating and testing several algorithms based on single neuron PID control scheme, as well as applying them to the control test show that,the single neuron PID control algorithm can keep control system running in best status and achieve fast and stable auto-tracking of the intelligent car.