摘要
针对传统儿童早教玩具机器人在人机交互过程中的运动控制效果差的问题,提出一种基于模糊自整定的PID运动控制算法。在机器人系统硬件设计基础上,结合运动学模型,构建PID控制器;考虑到传统PID算法的弊端,提出模糊自整定PID控制方法,并将该算法用到机器人运动控制。实验表明,在转速响应过程中,本算法的控制效果明显优于PID控制器。本算法在机器人系统中循迹稳定性平均值、标准差和极差分别为-0.025、0.196 4和0.78,均优于传统PID控制算法的-0.029、1.253 4和5.12,且基于本算法的机器人在循迹稳定性和电子标签识别方面的成功率高达99%。综合得出,本PID控制的稳定性更强,能在人机交互中更好实现机器人的运动控制。
In view of the problems of poor motion control effect and low intelligence level of human-computer interaction in traditional children,a PID motion control algorithm based on fuzzy self-tuning is proposed.Based on the hardware design of the robot system,combine the PID controller model,add the fuzzy control system based on the PID controller to obtain the fuzzy self-set PID motion control algorithm and realize the intelligent robot motion control.The experiment found that the control effect of this algorithm is significantly better than the PID controller during the rotational speed response process.The algorithm has an average,standard deviation and extreme difference of-0.025,0.1964 and 0.78,respectively,which outperforms-0.029,1.2534 and 5.12 of the conventional PID control algorithm,and the robot based on the algorithm has a 99% success rate in tracking stability and electronic label identification.Comprehensive analysis shows that the stability of this algorithm is stronger,which can effectively control the robot movement,and significantly improve the intelligent level of human-computer interaction.
作者
罗聪
LUO Cong(Changsha Normal University,Changsha 410100,China)
出处
《自动化与仪器仪表》
2023年第11期168-172,共5页
Automation & Instrumentation
基金
湖南省教育厅科学研究优秀青年项目《基于多模态感官体验的自闭症儿童智能玩具交互设计研究》(22B1104)
湖南省教育厅教学改革研究重点项目《新工科背景下的工业设计(玩具方向)产学研协同育人模式改革与实践》(HNJG-2022-0378)
湖南省大学生创新创业训练计划项目《基于“双碳”趋势下生态模拟教育类儿童智能编程玩具创新设计研究》(S202213806012)
湖南省社会科学成果评审委员会课题《文旅融合视域下长沙窑陶瓷玩具产品创新设计研究》(XSP2023YSC071)。
关键词
儿童早教
玩具机器人
人机交互
PID控制
模糊自整定
early education for children
toy robot
human-computer interaction
PID control
fuzzy self-tuning
