摘要
利用牛顿-欧拉的方法建立了轮式移动机器人的动力学模型,为保证模型的精确性考虑了电机的动力学特性.针对传统的PID控制方法对数学模型要求较高的缺点引入了一种模糊PID控制策略.文中详细的给出了控制算法实现步骤,即模糊化,模糊规则的制定,模糊推理,解模糊.最后介绍了系统的软硬件构架.
A dynamic model of a mobile robot was obtained by using Newton-Euler approach.For a more accurate model the dynamic characteristics of motor was considered.A fuzzy proportion-integral-derivative （PID）control strategy is proposed because of that traditional PID control strategy require a very accurate model.The implementation steps of the algorithm are discussed in dative.That is fuzzification,formulation of the fuzzy rules,fuzzy reasoning and defuzzification.At last,the structure framework of the system is discussed in general.
出处
《内蒙古民族大学学报（自然科学版）》
2011年第2期156-159,共4页
Journal of Inner Mongolia Minzu University：Natural Sciences
基金
内蒙古民族大学校级科研项目(MDX2008032)
