摘要
云模型控制理论是智能控制学科的新兴领域,该理论从提出至今,主要以理论研究和仿真实验为主。针对云模型理论的研究现状,提出了基于单片机的一维云模型控制器的设计方法,应用该方法设计的云模型控制器成功实现了对轮式机器人平衡系统的控制。轮式机器人动态平衡实测数据表明,一维云模型控制器可以保证轮式机器人定位系统具有良好的控制性能和较强的干扰性,证明了该设计的有效性和科学性,为今后云模型控制器设计提供了一定的参考。
Cloud model control theory is emerging field in the intelligent control subjects, so far, this theory is studied in theoretical and simulation--based. For research of the cloud model theory, The cloud controller designed method is proposed based on SCM. control strate gy was applicabled to the inverted balance control system of the wheeled robot for the unstable situation appeared in the wheeled robot dy namic balance moving. The results show that One--dimensional cloud model controller can guarantee the wheeled robot positioning system with good performance and strong interference. The results proved effective and scientific of the design, the cloud model controller designed method provide some reference for the future.
出处
《计算机测量与控制》
CSCD
北大核心
2011年第11期2695-2698,共4页
Computer Measurement &Control
关键词
云模型
云模型控制器
轮式机器人
单片机
平衡系统
cloud model
cloud model controller
wheeled robot
single--chip microcomputer
balance system
