计算机技术与发展2016，Vol.26Issue(9)：171-174,4.DOI:10.3969/j.issn.1673-629X.2016.09.038
模糊PID控制在轮式机器人直立系统中的应用
Application of Fuzzy PID Control in Upright Wheeled Robot System
摘要
Abstract
Erect wheeled robot which has simple structure,strong controllability,low cost,fast speed,flexible control and other characteris-tics,is widely used in mobile robot needing a predetermined path. According to wheeled robot modeling,the control algorithm of robot’ s wheel acceleration in upright condition is obtained,and the membership relations of the fuzzy self-tuning PID controller and fuzzy rule table is designed. Comparison with Simulink simulation indicates that the fuzzy PID self-tuning algorithm is superior to the conventional PID algorithm. The two algorithms are used in the process of the robot vertical control,measuring the output curve of z axis under condi-tion of vertical angular acceleration magnified 1 000 times,calculated that the variance shrinks by 73. 4%,range shrinks by 67. 5%,and comprehensive performance improves three times after a blurring. It verifies that upright control effect is better than conventional PID after the fuzzy self-tuning.关键词
模糊控制/轮式机器人/直立控制/Simulink仿真/PIDKey words
fuzzy control/wheeled robot/vertical control/Simulink simulation/PID分类
信息技术与安全科学引用本文复制引用
李贤喆,江兵,王强,李轩恺..模糊PID控制在轮式机器人直立系统中的应用[J].计算机技术与发展,2016,26(9):171-174,4.基金项目
国家自然科学基金资助项目(11202107) （11202107）
国家创新训练计划(SZDG2014013) （SZDG2014013）
