摘要
为了提高机器人小车控制系统的控制精度,选用合适的控制算法显得十分必要。然而为实现机器小车速度控制,并非越复杂、精度越高的算法越好,因为电机实时性要求非常高,机器人必须在非常短的时间内做出灵敏的反应。搭建了闭环反馈电机控制系统,选用了常规PID控制算法,使得直流电机转速控制效果得到优化,还通过Matlab/Simulink仿真为PID参数的整定提供了参考。
It is very necessary to select a suitable control algorithm to improve control precision of mobile robot.But to realize the velocity control result,it is not the more accurate or complex,the better.Because the robot’s motor must fulfill very high real-time demand.That’s to say,the robot must respond the algorithm in the shortest impossible time.The paper builds a close-loop motor velocity control system and chooses the traditional PID control algorithm.The method can optimize the velocity control effect of the DC motor.Also,according to the simulation result based on the Matlab/Simulink,it can provide adaptable PID parameters with tuning directions.
作者
张玉叶
ZHANG Yuye(School of Physics and Electronics Engineering,Xianyang Normal University,Xianyang 712000,Shaanxi,China)
出处
《咸阳师范学院学报》
2020年第4期18-21,共4页
Journal of Xianyang Normal University
基金
咸阳师范学院科研基金项目(XSYK19049)
咸阳师范学院教改项目(2017Y004)。
