摘要
针对室内移动轮椅式机器人在运动过程中,机器人特性受到材料磨损、环境差异等因素的影响而发生改变,导致采用经典PID的控制出现超调量大、响应慢、易振荡等问题,本文提出采用模糊推理获取PID参数的方法。设计了机器人的运动控制系统;建立了机器人的运动学模型;结合实际操作人员控制机器人的实际经验,采用模糊推理得到PID的控制参数;最后,进行了机器人的实验。实验结果表明,采用模糊PID能有效地减小航向角的偏转误差,降低系统的超调量,提高系统性能。
In motion process of indoor mobile wheelchair robot, its characteristics would change due to the influences of abrasion of material and the environmental differences, etc. This will result in large overshoot, slow response and easy oscillation to classical proportion integration differential （PID） control in use. In order to deal with these problems, fuzzy inference method is used as pro- posed to obtain the PID parameters. Firstly, the robot motion control system architecture was designed, secondly, the kinematics mod- el of robot was built. Thirdly, combined with practical experience that the actual operator controls the robot, fuzzy inference method was used to obtained the PID control parameters. Finally, experiments on the robot were done. The experimental results show that the fuzzy PID can effectively reduce the~ deflection error of the heading angle and the overshoot of the system, and improve the performance of the system.
出处
《机床与液压》
北大核心
2017年第17期36-39,104,共5页
Machine Tool & Hydraulics
基金
广东省佛山市科技基金项目(FZ2010013)
广州市科技计划产学研协同创新重大专项项目(201604016086)
广东省高性能计算重点实验室开放课题项目(TH1528)
