The ramp metering rate is determined by the PID controller whose parameters are tuned by fuzzy logic according to the density tracking error and error variation.

斜坡根据密度跟踪误差和误差变化情况，通过模糊逻辑对控制器参数进行调整，确定了测量速度。

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Two control loops are devised: a conventional PID regular is used to control the position and velocity of the trolley, and a fuzzy logic controller is proposed to the anti-swing control of the load.

为实现对小车的位置和抓斗的摆动分别控制而设计了两个控制回路，其中一个回路采用常规的PID算法来调节小车的位置和速度，同时另一个回路则利用模糊逻辑控制器来消除抓斗的摆动。

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Through combining Fuzzy logic with PID controller and adjusting control parameters in on-line ways, it can perfect the properties of PID controller and improve the precisions of control system.

接着将模糊控制器和PID控制器通过自适应因子结合起来，在线自调整控制参数，进一步完善了PID控制器的性能，提高了系统的控制精度。

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