三轮机器人直线行走的双闭环PID控制研究

Double Closed Loop PID Control for Three Wheeled Robot Walking in Straight Line

三轮机器人结构简单、运行稳定,在工业和机器人竞赛等领域有着广泛的应用。由于三轮机器人的两个主动轮在电气和机械参数等方面存在差异,造成了机器人直线行走时发生偏移。本文提出了速度PID和距离PID的双闭环控制方案,经过多次试验获得合适的PID控制参数,解决了三轮机器人的直线行走问题。

Three wheeled robot is simple in structure and stable in operation, and it has many applications in industry and robot competition. Nevertheless, the deviation often happens during straight walking, and this is partially due to the difference of electrical and mechanical parameters between the two driving wheels of the three wheeled robot. Tow solve this issue, this paper proposes a double closed loop control scheme of speed PID and distance PID. After several experimental attempts, the appropriate PID control parameters are obtained, and they are capable to straight walking for three wheeled robot.