摘要
移动机器人涉及到许多研究方向,运动控制是其中的基础。通过对移动机器人运动学模型进行分析,以足球机器人系统为实验平台,论证了Fuzzy PID技术应用于移动机器人运动控制的可行性。将传统的PID控制与模糊控制相结合,通过PID控制实现控制的准确性,利用模糊控制提高控制的快速性。针对移动机器人运动控制中的实际问题,着重提出了基于误差分区的PID控制器和模糊控制器的设计方法。实验证明该方法不仅增强了控制器的调节能力,还在一定程度上简化了控制器的设计。
An application of Fuzzy-PID in motion control of mobile robots is presented based on robot soccer system after analysing the kinematic model of mobile robots.The method combines PID control with fuzzy control.The accuracy is ensured by PID controller and the dynamic speed is improved by fuzzy controller.Furthermore, according to different error areas,the different PID parameters and different fuzzy control charts are applied, which enhance the control ability and simplify the design procedure.The validity is verified by simulation and experimental results in robot soccer system.Therefore,the control method based on Fuzzy-PID can be widely applied in robotics.
出处
《控制工程》
CSCD
2004年第6期525-528,共4页
Control Engineering of China
