基于同步补偿的智能控制系统的研究

Study of Intelligent Control System Based on Synchronous Compensator

通过对轮式机器人的运动模型分析,提出一种在模糊、BP神经网络智能控制的基础上,引入同步补偿控制的方法,通过反馈及同步补偿算法调节来抑制机器人内部硬件和外界摩擦对控制性能的影响。并以Visual C++软件为平台,PC机作为上位机,单片机作为下位机的结构,实现了同步补偿下的智能控制系统在轮式机器人上运动控制。实验结果证明此方案的有效性。

After the analysis of the motion model of two-wheeled mobile robot,the design method of a new motion controller is presented in this paper.This control system combines synchronous compensator together with fuzzy control and BP neural network algorithm.The effect on control performance caused by the robot＇s internal hardware and external friction of the two wheels are greatly reduced by feedback and synchronous compensator.Therefore this structure,which is based on Visual C＋＋,and has a PC machine as the host computer and a SCM as the lower machine,is proposed.