摘要
在比赛中,足球机器人一直处于高速运动状态,因而对其运动协调性和响应的快速性要求较高。为此,本文分析了影响足球机器人运动协调性差的原因,针对其运动的特点,提出了利用模糊系统调节PID控制器的增益的方法。实验表明,本方法在改善足球机器人动态协调性方面还是可行的。
In the match system, soccer robot is in the high speeding movement, so we have to meet the requirement of athletic coordinateness and rapid response. This paper analyses the cause of impact soccer robot motion discordance. Aim at characteristic of robot, we apply fuzzy control system to adjust the plus of PID controller. The practice shows that the measure is well coordinate, fast and capable of meeting the requirement of competition in robot soccer.
出处
《长春大学学报》
2005年第6期39-40,共2页
Journal of Changchun University
关键词
足球机器人
协调控制
模糊控制
soccer robot
coordinate control
fuzzy control
