履带轮椅机器人爬楼姿态控制的研究

Stair-Climbing Attitude Control of Tracked Wheelchair Robot

提出一种采用履带结构的轮椅机器人方案,并对其爬楼姿态的控制方法进行研究.利用6轴运动传感器获取机体爬楼时的姿态数据,超声波传感器采集机体两侧的距离数据,根据轮椅机器人自身特点与实际经验,使用模糊PID(Proportion Integration Differentiation)算法设计出模糊自整定PID控制器.通过在MATLAB/SIMULINK下仿真,该控制器能将方向角稳定在预定角度,建立稳态时间为0.17 s,最大超调量不超过7.2%.实际试验中,方向角稳定在预设值±0.2°内,具有很好的控制效果,实现了爬楼过程中的自动控制.

A structural scheme of tracked robot was proposed and the control method of the stair-climbingattitude was studied. A 6-axis motion sensor was employed to acquire the attitude data of the robot in the processof climbing stairs. In addition, supersonic sensors were installed to acquire the distance data on both sides ofthe robot body. According to the robot characteristics and practical experience, a kind of fuzzy self-tuningproportion integration differentiation（PID）controller was devised using fuzzy PID algorithm. A simulation bythe tool of MATLAB/SIMULINK was performed, in which the controller could be stabilized at a predeterminedangle in 0.17 s and the maximum overshoot was less than 7.2%. The direction angle was keeping with in ±0.2°of the preset value and the automatic control of the tracked wheel chair robot climbing stairs was realized withgood effect in the practical experiments