基于模糊PID算法吸附机器人转向控制

Adsorptive Robot Steering Control Based on Algorithm of Fuzzy PID

传统的吸附机器人在发生碰撞或者在不光滑的墙面移动时,机器人将会偏离原本设定的路线,从而降低工作效率。为了解决这一问题,本文分析了吸附式机器人系统数学模型,并提出基于模糊PID控制算法实现机器人转向控制,从而使得机器人回到原始路线,通过simulink仿真的结果可以得出,模糊PID算法相比于传统PID算法,转向系统的动态特性更好,系统的反应速度快,效率更高。

Traditional adsorptive robot collide or move on a non-smooth wall,The robot will deviate from its original path,thereby reducing work efficiency.in order to solve this problem,The mathematical model of the adsorption robot system is analyzed in this paper.This paper proposes a fuzzy PID control algorithm to realize robot steering control and return to the original path.Through simulink simulation results can be obtained,Compared with traditional PID algorithm,Compared with the traditional PID algorithm,fuzzy PID algorithm has better dynamic characteristics,faster response speed and higher efficiency.