The invention provides a vehicle speed control method and device based on speed compensation PID. The method comprises the steps of building a PID control model which is relatively stable in control and has an error in an acceptable range through a speed compensation value, then increasing a speed compensation value for the speed of a reference track through changing the speed of the reference track inputted by the PID, and reducing the speed difference caused by PID lag. The speed compensation value is adjusted, so that the speed compensation value enabling the deviation between the actual speed and the reference speed to be minimum is found out, and the speed deviation caused by PID algorithm lag during track tracking can be reduced.
本发明提供一种基于速度补偿PID的车辆速度控制方法及装置,其中,通过速度补偿值建立一个控制相对稳定且误差在可接受范围内的PID控制模型之后,通过改变PID输入的参考轨迹速度,给参考轨迹的速度增加一个速度补偿值,从而减小由于PID滞后造成的速度差。调整速度补偿值的大小,从而找出一个使实际速度与参考速度偏差最小的速度补偿值,能够减小由于PID算法滞后所引起的轨迹追踪时的速度偏差。
Vehicle speed control method and device based on speed compensation PID
一种基于速度补偿PID的车辆速度控制方法及装置
2021-11-30
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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