模糊理论和PID相融合的两轮自平衡机器人智能控制系统

Two-wheeled self-balancing robot′s intelligent control system combining fuzzy theory and PID

针对两轮自平衡机器人控制系统的开发和研制普遍存在不足,易导致控制系统故障等问题,对两轮自平衡机器人进行研究并建立基于模糊理论与PID控制相融合的两轮自平衡机器人智能控制系统模型,将所得模型根据PID控制和模糊理论算法进行仿真实验,并对实验数据进行测量和分析。仿真结果表明,模糊理论和PID相融合的控制器有利于促进两轮自平衡机器人控制系统的稳定,实现对输入信号的跟踪。

The research and development of the two-wheeled self-balancing robot′s control system have the defects,which easily leads to the failure of the control system.Therefore,the two-wheeled self-balancing robot is researched,and its intelligent control system model combining fuzzy theory and PID control is established.The simulation experiment is carried out for the model combining PID control and fuzzy theory algorithm.The experimental data is measured and analyzed.The simulation results show that the controller combining fuzzy theory and PID is helpful to promote the stability of control system of two-wheeled self-balancing robot,and realize the tracking of input signals.