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近年来运动控制技术发展迅速,由于轮式移动机器人系统的非线性和常规PID控制方法的不足,将传统的PID控制技术和普通的模糊控制技术相结合,设计了一种基于参数自整定的模糊PID运动控制系统,具体介绍了运动控制系统的构成、模糊PID控制系统的原理以及模糊PID控制器的设计步骤,并对该控制方案进行数字仿真。
Abstract：The PID algorithm based on fuzzy inference engine is applied to overcome the shortcomings of traditional PID algorithm,which is unfitted to the properties of a wheeled mobile robot such as nonlinearity.The structure of molion control system and the principle of fuzzy-PID control system is introduced.The design step of fuzzy-PID compensator is presented and the simulation result is given out.
[1]张铭钧.智能控制技术[M].哈尔滨:哈尔滨工程大学出版社,2006.
[2]刘满禄,张华,王瑗,胡天链.基于模糊控制器的移动机器人导航[J].兵工自动化,2009,28(6):73-75.
[3]黄炳强,曹广益,费燕琼.基于模糊控制器的机器人路径规划研究[J].测控技术,2007,26(1):30-32.
[4]Honghai Liu,Brown DJ,Coghill GM.Fuzzy Qualittaive RobotKinematics[J].Fuzzy Systems,2008,3(16):808-822.
基本信息:
中图分类号:TP242;TP273.4
引用信息:
[1]陆磊.模糊PID控制在轮式机器人上的应用[J].微型电脑应用,2010,26(12):31-33+2.
2010-12-20
2010-12-20