一种两轮轮式机器人点镇定智能控制实现

Realization of point stabilization intelligence control for two-wheel robot

针对实际RoboCup机器人,分析了采用双闭环轮速跟随电机执行系统的两轮轮式移动机器人的数学模型,考虑了实际电机系统必然存在的速度饱和、加速度饱和限制对点镇定控制的影响,基于动觉图式的仿人智能控制理论,提出了一种两轮轮式机器人点镇定的分段比例智能控制器,利用遗传算法整定了控制器的参数.比较了比例控制器,比例余弦控制器和提出的智能控制器的仿真控制效果,并在实际RoboCup机器人上有效实现了提出的控制器.仿真和实际系统实验都证明了该控制器的有效性.

For the practical two-wheel RoboCup robot,we analyze the mathematical model of its double closed-loop controlled DC motor system.The existing saturations in velocity and acceleration are considered.Based on the human simulated intelligence control（HSIC）with Sensory-Motor Intelligence Schema,we propose a multisection proportioncontroller for the point stabilization of the two-wheel robot;the parameters of the controller are obtained by using the genetic algorithm（GA）.The simulation results of the three controllers we designed-proportion-controller,proportioncosine-controller and the HSIC-controller are compared.The HSIC controller is applied to the practical RoboCup robot;the validity of the HSIC-controller is confirmed in the simulation and the real experimentation.