摘要
针对电子差速控制器在使用时对直流无刷电机的转速精度控制不高、轮式机器人转向时的稳定性差等问题,提出一种基于模糊PID的电子差速控制策略,结合轮式机器人转向时转速的偏差和偏差的导数进行在线调节PID参数。对于模糊PID的电子差速控制系统,先设计出符合轮式机器人转向时控制系统的控制规则,再应用Matlab/Simulink对设计的系统进行电机转速、转矩波形的仿真。仿真结果表明,所设计的系统相比于传统PID控制系统具有更高的精度以及更快的动态响应,能保证轮式移动机器人在转向状态下的平稳性。
In view of such flaws as the low speed precision control of the DC brushless motor with the electronic differential controller in use,as well as the low stability in the steering of wheeled robots,an electronic differential control strategy based on fuzzy PID has thus been proposed,which combines the deviations of the rotating speed and the derivative of the deviation of wheeled robots to adjust the PID parameters on line.With respect to the electric differential control system based on fuzzy PID,a design has been made of the control rules that meet the requirements for the steering control of wheeled robots,followed by the application of Matlab/Simulink to the simulation of the motor speed and torque waveforms of the designed system.The simulation results show that,compared with the traditional PID control,the design system is characterized with a higher accuracy and faster dynamic response,thus ensuring the stationarity of the wheeled mobile robot in the steering state.
作者
谭会生
廖雯
TAN Huisheng;LIAO Wen(College of Traffic Engineering,Hunan University of Technology,Zhuzhou Hunan 412007,China;College of Electrical and Information Engineering,Hunan University of Technology,Zhuzhou Hunan 412007,China)
出处
《湖南工业大学学报》
2018年第1期81-87,共7页
Journal of Hunan University of Technology
基金
国家自然科学基金资助项目(6167224)
湖南省自然科学基金资助项目(2016JJ6036)
关键词
轮式机器人
转向控制
电子差速控制
模糊PID
wheeled mobile robot
steering control
electronic differential speed control
fuzzy PID
