足球机器人运动控制算法研究

The Algorithm of Motion Control for Soccer Robot

在建立基于小转角的足球机器人运动学模型的基础上,提出了单神经元自适应PID控制算法和基于Kalman滤波的PID控制算法.通过仿真分析,系统在单神经元自适应PID控制下,超调量、上升时间和峰值时间分别是常规PID控制下的30.7%,54.3%和72.7%,完全满足足球机器人现场比赛竞技性的要求;基于Kalman滤波的PID控制能够抑制干扰,提高控制精度,控制效果明显改善.

The motion model of soccer robot based on little angle was constructed. The mono-neural self-adaptive PID control algorithm and PID control algorithm based on Kalman filter were proposed. The simulation results indicated that the overshooting number, risetime and ~ value of the system controlled by mono-neural self-adaptive PID were respectively 30.7% ,54.3% and 72.7% of those by routine PID control,which totally satisfied the requirements for soccer robot athletic competitions; PID control algorithm based on Kalman filter could preferably restrain the disturbance, enhance the control precision, and improve the control result.