[1]李贤喆,江兵,王强,等. 模糊PID控制在轮式机器人直立系统中的应用[J].计算机技术与发展,2016,26(09):171-174.
　LI Xian-zhe,JIANG Bing,WANG Qiang,et al. Application of Fuzzy PID Control in Upright Wheeled Robot System[J].,2016,26(09):171-174.
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 模糊PID控制在轮式机器人直立系统中的应用()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
26
期数:
2016年09期
页码:
171-174
栏目:
智能、算法、系统工程
出版日期:
2016-09-10

文章信息/Info

Title:
 Application of Fuzzy PID Control in Upright Wheeled Robot System
文章编号:
1673-629X（2016)09-0171-04
作者:
 李贤喆; 江兵; 王强; 李轩恺
 南京邮电大学 自动化学院
Author(s):
 LI Xian-zhe; JIANG Bing; WANG Qiang; LI Xuan-kai
关键词:
 ; 模糊控制; 轮式机器人; 直立控制 ; Simulink仿真; PID
Keywords:
 ; fuzzy control; wheeled robot; vertical control ; Simulink simulation; PID
分类号:
TP39
文献标志码:
A
摘要:
 轮式直立机器人具有结构简单、可控性强、行进速度快、控制灵活、低成本等特点，广泛运用于需要按预定路径进行移动的机器人中。依据对轮式机器人建模得出直立状态下车轮加速度的控制算法，设计模糊PID自整定控制器的隶属度关系及模糊规则表，用Simulink仿真比较，表明模糊后的PID自整定算法明显优于常规的PID算法。将两种算法实际运用于机器人直立控制过程，测量直立状态下的z轴角加速度放大1000倍后的输出曲线，计算出经过模糊化后的方差缩小了73.4%，极差缩小了67.5%，综合性能提高了3倍。结果表明，模糊自整定后的直立控制效果明显优于常规PID。
Abstract:
 Erect wheeled robot which has simple structure,strong controllability,low cost,fast speed,flexible control and other characteris-tics,is widely used in mobile robot needing a predetermined path. According to wheeled robot modeling,the control algorithm of robot’ s wheel acceleration in upright condition is obtained,and the membership relations of the fuzzy self-tuning PID controller and fuzzy rule table is designed. Comparison with Simulink simulation indicates that the fuzzy PID self-tuning algorithm is superior to the conventional PID algorithm. The two algorithms are used in the process of the robot vertical control,measuring the output curve of z axis under condi-tion of vertical angular acceleration magnified 1 000 times,calculated that the variance shrinks by 73. 4%,range shrinks by 67. 5%,and comprehensive performance improves three times after a blurring. It verifies that upright control effect is better than conventional PID after the fuzzy self-tuning.

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更新日期/Last Update: 2016-10-26