农机化研究2024，Vol.46Issue(7)：14-20,7.
基于改进模糊PID果园双轮移动机器人运动控制
Motion Control of Two-wheel Mobile Robot in Orchard Based on Improved Fuzzy PID
摘要
Abstract
Aiming at the problem that the orchard two-wheeled robot is difficult to balance and easy to lose stability when moving on the orchard road,this paper proposes a fuzzy proportional-integral-derivative(PID)control strategy based on the optimization of the improved glowworm swarm algorithm.Firstly,according to the characteristics of the robot and the uneven road in the orchard,its dynamic state space model is established;secondly,the principle of the improved glow-worm swarm optimization is expounded and the fuzzy rules of the controller are optimized;thirdly,the motion control of the robot is simulated by using MatLab/Simulink software.Finally,in order to test the feasibility of the proposed algo-rithm,a comparative experiment is established.The research results show that the fuzzy PID controller optimized by the improved glowworm swarm optimization realizes the stable motion function of the two-wheeled mobile robot in the or-chard.Compared with the traditional PID controller,the time to reach stability and the maximum inclination angle are re-duced by 3.9s and 20.4° respectively.关键词
果园双轮移动机器人/平衡控制/改进萤火虫算法/模糊PID控制Key words
two-wheeled mobile robot in orchard/balance control/improved glowworm swarm optimization/fuzzy PID control分类
农业科技引用本文复制引用
张智超,闵淑辉,廖凯,万斌,李立君,范子彦..基于改进模糊PID果园双轮移动机器人运动控制[J].农机化研究,2024,46(7):14-20,7.基金项目
湖南省重点研发计划项目(2021NK2023) （2021NK2023）
