基于模糊PID的矿车纵向速度跟踪控制技术研究OA

Changing road environments in mining areas make accurate longitudinal speed tracking challenging for unmanned mining trucks.To address this,this paper proposes a fuzzy PID-based longitudinal speed tracking control algorithm for these vehicles.This algorithm incorporates fuzzy rules for directly outputting coefficients of the proportional,integral,and differential terms for the PID controller.This design avoids a tedious PID parameter tuning process and improves ride stability for the mining trucks,while improving accuracy and response speed of the PID algorithm for speed tracking control.Bench tests and vehicle experiments show that the proposed fuzzy PID-based design reduces both the mean absolute error and root mean square error between actual and target speeds for mining trucks compared to traditional PID control.