摘要
为了提高足球机器人的运动性能,设计了足球机器人控制参数整定系统.在阐述系统基本原理的基础上讨论了系统的组成,该系统包括测试平台、测试电路和测试软件.讨论了所采用的改进的增量式PID控制算法和通过实验确定参数的方法.实验证明,该系统可以快速地整定系统控制参数.
In order to improve the movement performance of soccer robots, the control parameter integrated decision system for robot soccer is discussed. Firstly, based on description of the fundamentals, the composition of the system is given, including the testing platform, testing circuit and testing software. Secondly, the increment PID algorithms adopted in controlling and the choosing of parameters by experiments are discussed. Lastly, the experimental results are given and the experiments prove that this system can give the integrated decision parameter effectively.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2004年第7期960-962,共3页
Journal of Harbin Institute of Technology
基金
华北电力大学博士科学基金资助项目.
关键词
足球机器人
参数整定
参数选择
Algorithms
Computer software
Control systems
Electric motors
Microprocessor chips
Three term control systems
