摘要
针对自主机器人的直线行进过程,提出一种通过硬件电路确定直流电机模型的方法,即利用光电编码器测得机器人驱动轮电机转速信号,经硬件电路将每个周期时间内的脉冲数记录下来,从而得到电机输出转速响应曲线,确定电机的数学模型。在电机模型确定的基础上,实现了自主机器人直线行进过程的数字PID控制。数字PID参数的确定采用Ziegler-Nichols法,同时借助Matlab/Simulink仿真软件对所得PID参数进行了进一步的整定,取得了良好的控制效果。
This paper investigates the process when the autonomous robot moves in straight line.The method of using hardware to establish the direct-current motor model is presented.The speed of robot′s driver motor can be measured with optical encoder,so the velocity response curve can be got by counting the incoming pulses from the optical encoder to establish the motor′s mathematical model.Based on this,the digital PID control is achieved during the process of robot moving in straight line.The parameters of digital PID controller are determined by Ziegler-Nichols method.At the same time,the PID parameters are modified with the help of Matlab/Simulink,and the control effect is good.
出处
《现代电子技术》
2005年第13期58-60,共3页
Modern Electronics Technique
