摘要
本文主要讨论移动机器人在自动控制原理课程中的应用。结合测控技术与仪器专业背景,以移动小车机器人动态系统建模和轨迹跟踪控制器设计为主要任务,主要介绍动态系统建模、PID控制器设计等理论应用,并利用MATLAB机器人工具箱进行仿真模拟,体现测控专业控制类课程紧密结合专业背景的特色。移动机器人小车的应用更能让学生在学习中理论联系实际,学以致用。
This paper mainly discusses the application of mobile robot in the course of automatic control principle.Based on the background of measurement and control technology and instrument specialty,the dynamic system modeling and trajectory tracking controller design of mobile robot are taken as the main tasks.The theoretical applications of dynamic system modeling and PID controller design are mainly introduced,and the simulation is carried out by using MATLAB robot toolbox,which reflects the characteristics of close combination of control courses with professional background.The application of mobile robot car can make students integrate theory with practice in learning and apply what they have learned.
作者
冀川
Chuan Ji(Shandong Jiao Tong University,School of Aeronautics,Jinan,Shandong,250357,China)
基金
山东交通学院教学改革资助项目(2018YB31)。
关键词
自动控制
跟踪控制
PID控制
Automatic Control
Tracking Control
PID Control
