卡车倒行入库模糊控制与pi控制对比分析.doc

学校代码 10126 学 分 类 号 TP273+.4 密级 本科毕业论文（设计） 卡车倒行入库模糊控制与PID控制的对比分析 学院、系 电子信息工程学院自动化系 专业名称 自动化 年 级 08级 学生姓名 XXXX  指导教师 XXXXXX 2012年 05 月0 内容摘要 PID（比例 积分 微分）控制具有结构简单、稳定性能好、可靠性高等优点,尤其适用于可建立精确数学模型的控制系统。而对于一些多变量、非线性、时滞的系统，传统的PID控制器并不能达到预期的效果。 随着模糊数学的发展，模糊控制的思想逐渐得到控制工程师们的重视，各种模糊控制器也应运而生。作为智能控制的一个重要分支，模糊控制对于某些复杂控制对象具有更好的控制效果。 本论文介绍了PID控制及模糊控制的概念及工作原理并就两者对小车倒行入库的控制进行了设计和对比。并利用MATLAB中的SIMULINK 和模糊逻辑推理系统工具箱进行了控制系统的仿真研究，并简要地分析了对应的仿真数据。最终得出对于控制小车倒行入库这种复杂的对象，模糊控制要明显优于PID控制。 关键词：经典PID控制，模糊控制，参数整定，MATLAB仿真 ABSTRACT PID(Proportion Integration Differentiation) control, with lots of advantages including simple structure, good stability and high reliability, is quite suitable to establish especially the control system which accurate mathematical model is available and needed. However, taken multivariable, nonlinear and time-lag into consideration, traditional PID controller can not reach the expected effect. Along with the development of Fuzzy Mathematics, control engineers gradually pay much attention to the idea of Fuzzy Control, thus promoting the invention of fuzzy controllers. Fuzzy control which is a part of intelligent control has better effect to some complicated objects. Meanwhile，the concept and working principle are introduced of Fuzzy controll and PID control and their effects in controlling the car reversing were compared and analyzed. Eventually, the Fuzzy Inference Systems Toolbox and SIMULINK toolbox are used to simulate Control System. The results of the simulation show that Self-organizing Fuzzy Control System can get a better effect than the Classical PID controlled evidently. Keywords: Classic PID control; Fuzzy Control; MATLAB simulation 目录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc324703052 第一章 绪论 PAGEREF _Toc324703052 \