基于自适应模糊PID的爬壁机器人运动路径控制研究

Research on Motion Path Control of Wall-Climbing Robot Based on Adaptive Fuzzy PID

为解决爬壁机器人沿轨迹爬行检测过程中出现的位姿偏差问题,将模糊控制和传统比例积分微分(PID)相结合,提出了一种基于自适应模糊PID的运动路径控制方法。在建立相应的爬壁机器人运动模型的基础上,对爬行过程中的位姿偏差进行分析,设计了一种自适应模糊PID控制器。给出以位姿偏差角度为外环、以电机转速为内环的双闭环模糊控制方法,通过不断检测爬壁机器人的位姿角度误差,将实时的角度误差转化为左右电机的差速,再对左右电机转速进行模糊PID控制,进而改变爬壁机器人的运动方向。利用Simulink对模糊PID控制效果进行仿真分析。结果表明:自适应模糊PID相比于传统PID跟踪响应效果更好,具有较好的自适应能力;双闭环模糊控制能够更好地使爬壁机器人沿目标轨迹稳定爬行。

In order to solve the posture deviation problem of wall-climbing robot during its crawling along the track,a motion path control method based on adaptive fuzzy proportion-integration-differentiation(PID)is proposed by combining fuzzy control with traditional PID.Based on the motion model of wall-climbing robot,the posture deviation during its crawling is analyzed,an adaptive fuzzy PID controller is designed,and a double closed-loop fuzzy control method is proposed with the posture deviation angle as the outer loop and the motor speed as the inner loop.By continuously detecting pose and angle error of wall-climbing robot,real-time angle error is converted into differential speed between left motor and right motor.Then,the fuzzy PID controls left motor and right motor speeds to change the moving direction of the robot.Simulation analysis of the fuzzy PID control effect by Simulink proves that adaptive fuzzy PID has a better tracking response than traditional PID,and better self-adaptation abilities.The wall-climbing robot crawls steadily along the target track under double closed-loop fuzzy control.