自平衡机器人变论域模糊PID控制研究

Research on Two-wheeled Self-balanced Robot Based on Variable Universe Fuzzy PID Control

针对两轮自平衡机器人的动态平衡控制问题,提出了一种可变论域模糊PID控制算法,对机器人体的倾斜角度设计了二级模糊控制器。由第一级模糊控制器利用论域伸缩因子来动态改变第二级模糊控制器的论域,实现了论域随自平衡控制系统要求进行自适应伸缩,能较好地解决自平衡系统控制规则数量与控制精度间的矛盾。仿真结果表明,变论域控制方法动态特性明显优于常规模糊PID控制,使机器人的平衡控制系统具有自适应能力强,实时控制性能好的特点。

For the dynamic self - balanced problem of the two - wheeled self - balanced robot, an adaptive Fuzzy - PID control algorithm based on the control thought of variable universe was proposed, and a variable uniyerse fuzzy controller with two grades was designed to control the tilt angle of this robot. The universe stretching factor was produced by the first grade fuzzy controller, and it was utilized to dynamically change the universe of the second grade fuzzy controller. This control algorithm realizes the universe＇s adaptive stretch according to the control request of dynamic self- balanced system, therefore the contradiction between control rule quantity and control precision can be satisfactorily solved. Simulation results show that the dynamic characteristic of the designed system is obviously superior to the conventional fuzzy PID controller, and the self - balanced system has strong adaptive ability and fine real - time control performance.