摘要
为设计高性能低成本的轮式移动机器人,对永磁无刷直流电动机的控制器进行改进,利用带电流补偿的电压负反馈,实现无速度传感器控制,解决了难以安装和维护测速装置的弊病,降低成本;采用模糊自适应PID算法在线调整PID参数,提高系了系统的可靠性和鲁棒性。仿真结果证明该方案可以实现很好的调速性能。
In order to present a high performance and low cost wheeled-mobile robot,a new design proposal is proposed in this paper.A motor coordinated control schema which took motor voltage as negative feedback with motor current compensation was designed in this paper.The parameter＇s self-adaptive Fuzzy PID algorithm is also used to the control of BLDCM and improves the performance by adjusting certain parameters of the self-adaptive Fuzzy PID algorithm online.
出处
《工业控制计算机》
2011年第5期68-69,共2页
Industrial Control Computer
