管道机器人直线行进过程中多模式模糊PID控制

Multi-mode Fuzzy PID Control in the Straight Moving Process of Pipeline Robot

针对管道机器人PID控制直线行进过程中的跑偏问题,提出了一种改进的多模式模糊PID控制方法。通过建立集成直线行进偏差维度、阈值更新时间维度和初速度维度模式切换自适应阈值模型,减小了因模式切换造成的时间滞后误差。依托能力风暴AS-UⅢ机器人搭建实验测试平台,获取了不同初始速度下驱动轮的轨迹曲线。对比采用改进控制方法前后的轨迹曲线,验证了多模式模糊PID控制方法的有效性和实用性。

To address the deviation problem of the pipeline robot in the process of straight moving, an improved multi-mode fuzzy PID control method is presented. The establishment of mode switching adaptive threshold model which integrates linear travel- ing deviation dimension, threshold update time dimension and the initial velocity dimension reduces the time lag error caused by mode switching. With the experimental platform based on simulation tools, the AS-U HI robot, trajectory curves of drive wheels with different control methods are recorded. Comparison of track curves before and after improvement of the control method, the effective- ness and practical applicability of muil-mode fuzzy PID control method is verified and proved useful.