对影响预瞄控制算法的主要参数(如预瞄加权系数和预瞄距离等)进行了讨论。

Meanwhile, the effects of the main control parameters in the algorithm, such as preview weighting parameters, preview time and preview distances, on system performances were investigated.

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仿真结果表明，最优预瞄控制可以显著地降低电梯的水平振动，性能优于最优控制。

Simulation results show that optimal preview controller suppresses the horizontal vibrations effectively and exhibits superior performance than optimal controller.

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在路径跟踪模块中，采用了基于PID控制器的预瞄控制算法，包括速度控制和转向控制。

In the path tracking module, adopt the beforehand aiming arithmetic based on PID controller, including the speed control and turning control.

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