软件导刊2019，Vol.18Issue(1)：22-27,6.DOI:10.11907/rjdk.181712
模糊PID消防机器人无刷直流电机驱动系统设计
Design of Brushless DC Motor Drive System for Fuzzy PID Fire Robot
摘要
Abstract
Traditional fire fighting robots mainly use brushed DC motors and classical PID control.Now a brushless DC motor and fuzzy PID control algorithm are combined to form a motor drive system, which provides low-speed and high-torque drive for fire fighting robots.Through the establishment of a brushless DC motor control system model and the design of fuzzy PID control, a system simulation model is established under the MATLAB/Simulink simulation environment.In the simulation environment, the traditional PID controller and fuzzy PID controller are compared.The simulation results show that the fire robot composed of brushless DC motor and fuzzy PID controller has good static and dynamic performance and anti-jamming capability as well as good speed/torque characteristics.In order to verify the reliability of the test, a physical model of the fire-fighting robot is established.Through the overall testing of the robot, it is shown that the fuzzy PID fire-fighting robot has strong ability of climbing, obstacle crossing and stair climbing, and has practical value.关键词
消防机器人/低速大转矩/模糊控制/PID控制器/无刷直流电机Key words
fire-fighting robot/low speed high torque/fuzzy control/PID controller/brushless DC motor分类
信息技术与安全科学引用本文复制引用
赵伟,赵晓侠..模糊PID消防机器人无刷直流电机驱动系统设计[J].软件导刊,2019,18(1):22-27,6.基金项目
安徽省科技强警项目(1401b042010) （1401b042010）
