基于改进模糊PID算法的智能铲运机自主行驶控制方法

龙智卓; 战 凯; 顾洪枢; 石 峰; 郭 鑫; 冯孝华

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DOI:10.3969/j.issn.1671-4172.2015.05.015

有色金属（矿山部分）:2015,67(5):76-80

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基于改进模糊PID算法的智能铲运机自主行驶控制方法

龙智卓¹, 战凯², 顾洪枢³, 石峰⁴, 郭鑫⁵, 冯孝华⁶

(1.（北京矿冶研究总院，北京 100160）;2.（北京矿冶研究总院，北京 100161）;3.（北京矿冶研究总院，北京 100162）;4.（北京矿冶研究总院，北京 100163）;5.（北京矿冶研究总院，北京 100164）;6.（北京矿冶研究总院，北京 100165）)

The control method based on improved fuzzy-PID algorithm for the autonomous driving of intelligent LHD

LONG Zhizhuo¹, ZHAN Kai², GU Hongshu³, SHI Feng⁴, GUO Xin⁵, FENG Xiaohua⁶

(1.(Beijing General Research Institute of Mining & Metallurgy, Beijing 100160, China);2.(Beijing General Research Institute of Mining & Metallurgy, Beijing 100161, China);3.(Beijing General Research Institute of Mining & Metallurgy, Beijing 100162, China);4.(Beijing General Research Institute of Mining & Metallurgy, Beijing 100163, China);5.(Beijing General Research Institute of Mining & Metallurgy, Beijing 100164, China);6.(Beijing General Research Institute of Mining & Metallurgy, Beijing 100165, China))

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中文摘要: 针对智能铲运机在井下环境中的自主行驶问题，在现有基础的多变量PID算法和传统的模糊PID算法基础上，设计了改进模糊PID算法。改进模糊PID算法引入权重协调航向角控制器和横向偏差控制器对输出转向角的影响。建立铲运机自主行驶的SIMULINK仿真模型。仿真结果表明，改进模糊PID算法在响应时间、超调量以及稳态误差等方面相比于多变量PID算法有较大优势。

中文关键词: 智能铲运机自主行驶改进模糊PID算法

Abstract:Aiming at the autonomous driving problem of intelligent Load-Haul-Dump(LHD) in the underground environment, an improved fuzzy-PID algorithm is proposed based on the algorithm of multi-variable PID and fuzzy-PID. This algorithm introduces a weight coefficient to coordinate the effects on steering angle that comes from the outcome of path angle and lateral deviation. This paper builds a SIMULINK model of autonomous driving that depends on the mathematical model of LHD. The results of simulation prove that the improved fuzzy-PID algorithm has the advantages of fast response, small overshoot and steady-state error compared with the traditional multi-variable PID and fuzzy-PID algorithm.

keywords: intelligent LHD autonomous driving improved fuzzy-PID algorithm

文章编号： 中图分类号： 文献标志码：

基金项目:国家高技术研究发展计划（“863计划”）项目（2011AA060403）

作者	单位
龙智卓	（北京矿冶研究总院，北京 100160）
战凯	（北京矿冶研究总院，北京 100161）
顾洪枢	（北京矿冶研究总院，北京 100162）
石峰	（北京矿冶研究总院，北京 100163）
郭鑫	（北京矿冶研究总院，北京 100164）
冯孝华	（北京矿冶研究总院，北京 100165）

引用文本：
龙智卓,战凯,顾洪枢,石峰,郭鑫,冯孝华.基于改进模糊PID算法的智能铲运机自主行驶控制方法[J].有色金属（矿山部分）,2015,67(5):76-80.
LONG Zhizhuo,ZHAN Kai,GU Hongshu,SHI Feng,GUO Xin,FENG Xiaohua.The control method based on improved fuzzy-PID algorithm for the autonomous driving of intelligent LHD[J].NONFERROUS METALS(Mining Section),2015,67(5):76-80.

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Author Name	Affiliation
LONG Zhizhuo	(Beijing General Research Institute of Mining & Metallurgy, Beijing 100160, China)
ZHAN Kai	(Beijing General Research Institute of Mining & Metallurgy, Beijing 100161, China)
GU Hongshu	(Beijing General Research Institute of Mining & Metallurgy, Beijing 100162, China)
SHI Feng	(Beijing General Research Institute of Mining & Metallurgy, Beijing 100163, China)
GUO Xin	(Beijing General Research Institute of Mining & Metallurgy, Beijing 100164, China)
FENG Xiaohua	(Beijing General Research Institute of Mining & Metallurgy, Beijing 100165, China)