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发明授权
CN109116855B 一种移动小车循迹控制方法及系统 有权

一种移动小车循迹控制方法及系统
摘要：
本发明属于智能车信息处理技术领域，公开了一种移动小车循迹控制方法及系统,控制方法有：初始化，采集当前的电感值；两个电感值进行归一化；得出归一化的值，再进行判断是否大于0或小于0；再进行方向判断；不断地进行如此循环。本发明的程序所采用的方向控制算法是模糊控制，速度控制算法是PID控制；本发明中方向控制采用模糊控制，其鲁棒性强，干扰和参数变化对控制效果的影响被大大减弱，尤其适合于非线性、时变及纯滞后系统的控制，可不需要对象的精确数学模型。
摘要（英）：

The invention belongs to the smart trolley information processing technical field and discloses a mobile trolley traction control method and system. The control method includes the following steps that: initialization is carried out, and current inductance values are acquired; two inductance values are normalized; normalized values are obtained, and whether the obtained values are greater than 0 or smaller than 0 is judged; direction judgment is performed; and the above steps are cycled continuously. A direction control algorithm used in the program of the present invention is fuzzy control, and a speed control algorithm in the present invention is PID control; and since the direction control of the invention adopts fuzzy control, and the robustness of the direction control is strong, andtherefore, the influence of interference and parameter variation on a control effect is greatly weakened, the direction control is especially suitable for the control of nonlinear, time-varying and pure-lag systems, and the accurate mathematical model of an object is not required.

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