控制与信息技术Issue(1)：56-60,5.DOI:10.13889/j.issn.2096-5427.2026.01.007
基于模糊PID的矿车纵向速度跟踪控制技术研究
Study of Fuzzy PID-Based Longitudinal Speed Tracking Control for Mining Trucks
鲍时超1
作者信息
- 1. 安徽海博智能科技有限责任公司上海分公司,上海 200120
- 折叠
摘要
Abstract
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.关键词
无人驾驶矿车/PID算法/模糊PID/模糊规则Key words
unmanned mining truck/PID algorithm/fuzzy PID/fuzzy rules分类
矿业与冶金引用本文复制引用
鲍时超..基于模糊PID的矿车纵向速度跟踪控制技术研究[J].控制与信息技术,2026,(1):56-60,5.
