在智能車傳統(tǒng)PID、PD控制的基礎(chǔ)上進(jìn)行改進(jìn)，提出了一種更為穩(wěn)定快速的循跡控制方法。智能車的方向控制和速度控制都具有非線性、大滯后的特點(diǎn)，傳統(tǒng)的控制方法存在著響應(yīng)時(shí)間不夠及穩(wěn)態(tài)誤差大的缺點(diǎn)。通過電磁傳感器的合理設(shè)計(jì)，對(duì)路徑信息和車體狀態(tài)進(jìn)行檢測(cè)，并在此基礎(chǔ)上引入基于模糊控制的變參數(shù)PD控制和變結(jié)構(gòu)控制。實(shí)驗(yàn)結(jié)果表明，與傳統(tǒng)方法相比，智能車運(yùn)行的穩(wěn)定性和快速性都得到了很大的提高。

　　Abstract:

　　A more steady and rapid tracking control method for smart car based on traditional PID， PD control was propsed. Directional control and speed control of smart car has characteristics of nonlinear, long delay. Therefore， traditional control methods have long response time and large steady-state error. Through the rational design of electromagnetic sensors， it detected the information of wire and the condition of model car. Then， introducted variable parameter PD control and variable structure control based on fuzzy control. Experimental results show that smart car runs more stably and the speed has been greatly improved compared with traditional methods.