摘要
本文建立了二自由度轮式移动机器人路径跟踪的动力学模型,并设计了自整定模糊PID控制器。利用模糊推理的方法,对PID控制器的参数进行自动整定。仿真实验用常规增量式PID控制和自整定模糊PID控制算法结合进行航向跟踪。结果表明该算法与常规PID算法相比,系统误差减少了20%左右,响应时间减小到原来的0.4,有效地改善了控制器的动态性能,同时表现出了较好的自适应能力。路径跟踪仿真结果表明,轮式移动机器人能够迅速向目标路径靠拢,并能平稳地跟踪规划路径。
A dynamic model of two degrees of freedom for the wheeled mobile robot is built and a self-tuning fuzzy PID controller is designed in this paper.The PID controller parameters are adjusted automatically according to different error situations by the way of fuzzy reasoning.In simulation experiment,a fuzzy PID controller is tested.The system errors are reduced by about 20%,and the response time is decreased to 40% of the original compared with regular control method.The dynamic characteristics of the controller are improved obviously and its adaptive ability tests well.The results of path tracking simulation show that the wheeled mobile robot can be close to the target route rapidly and follow the programmed route steadily.
出处
《机电工程技术》
2006年第1期21-24,共4页
Mechanical & Electrical Engineering Technology
基金
中国大洋协会"十五"深海技术发展项目(项目编号:DY105-3-2-2)
