驾驶员延迟的史密斯补偿加PID控制
首发时间:2018-03-21
摘要:本文对史密斯补偿控制进行了研究,并将其与驾驶员道路跟踪模型相结合来解决驾驶员在操控车辆过程中出现的大延时问题。本文还通过利用频域分析法对PID控制器的范围进行了求解,并验证了其鲁棒性。最后通过仿真表明史密斯补偿加PID控制方法对于解决驾驶员延迟问题有良好的效果,可以更好的帮助驾驶员实现更好的车辆操控稳定性。
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Combination of Smith Compensation and PID Control for Driver Delay Problem
Abstract:In this paper, the Smith compensation control is studied and combined with the driver road tracking model to solve the large delay during the process of controlling the vehicle. And the range of PID controller is solved by using frequency domain analysis method, and its robustness is verified. Finally, the simulation shows that the Smith compensation and PID control method has a good effect on solving the driver delay problem, and can better help the driver to achieve better vehicle control stability.
Keywords: driver delay smith compensation control PID control
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