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Intelligent vehicle differential steering system and simulation based on Gray PID controller

Published:2015-04-08 author:QIN Gang，ZHANG Xiang-zhou，ZHOU Zhen-dong Browse: 3052 Check PDF documents

Intelligent vehicle differential steering system and simulation

based on Gray PID controller

QIN Gang，ZHANG Xiang-zhou，ZHOU Zhen-dong

（Telecommunication Institute，Xi'an Technology University，Xi'an 710021，China）

Abstract：Aiming at the problem of differential steering of intelligent vehicle which adopts brushless DC motor，an intelligent vehicle

differential steering controlling system based on grey PID controller was proposed. On basis of the grey system theory，a differential

steering model and kinetic analysis were established to divide the mathematical model of the brushless DC motor into two parts：the

uncertain part and the determined part. As to the uncertain part，a grey controlling model was established and the grey predictive

compensation was used，so as to get the ash content of the controlling system after a relatively large degree of whitening. In addition，

simulation of the brushless DC motor grey PID control governor was carried out and comparison with common PID was made. The results

indicate that after adopting grey PID control algorithm，the impact of the motor parameters change and load change on the speed

governing system of brushless DC motor becomes very small. The rotating speed and torque are equipped with higher robustness and

control precision，reflecting good static performance and dynamic performance，after adopting intelligent vehiche differential steering

controlling system. The steering system of intelligent vehicle has simple structure and strong adaptability to the environment. It better

achieves the self-adaptive tracking of the given speed reference model.

Key words：brushless direct current motor；differential steering；grey PID；PID control

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