摘要
为了提高小型轮式机器人的行驶稳定性,减小自动行驶误差,提出了一种基于分数阶比例积分微分(PID)横摆角控制策略,分析了机器人自动行驶系统的动力学特征,构建了基于分数阶PID横摆角控制系统的仿真模型。在此基础上,采用MATLAB/Simulink软件对机器人运动过程进行仿真分析,获得10 m内机器人运动时速度、角加速度、位移等的响应曲线,并将其与PID控制策略下的机器人做相同运动的响应曲线进行对比分析。研究结果表明:与传统PID控制相比,采用分数阶PID控制策略的机器人在10 m的运动距离内自动行驶的质心侧偏角减小了71.4%,横摆角速度降低了23.6%,侧向偏移程度缩小了29.5%,因而,在分数阶PID控制策略下小型轮式机器人操纵稳定性得到了显著提高,为解决小型轮式机器人在自动行走领域的问题提供了思路。
In order to improve the driving stability of the small wheeled robot and reduce the automatic driving error,a yaw angle control strategy was proposed based on fractional Proportional-Integral-Derivative(PID),the dynamic characteristics of the robot′s automatic driving system were analyzed,the simulation model of yaw angle control system based on fractional order PID was constructed.On the basis,MATLAB/Simulink software was used to simulate and analyze the motion process of the robot,and the response curves of the speed,angular acceleration,displacement,etc.of the robot when it moved within 10 m were obtained,and it was compared with the response of the robot under the PID control strategy for the same motion.The curves were compared and analyzed.The research results show that compared with the traditional PID control,the centroid side slip angle of the robot using fractional-order PID control strategy is reduced by 71.4%,the yaw rate is reduced by23.6%,and the side slip angle is reduced by 71.4%within a moving distance of 10 meters.The degree of movement is reduced by 29.5%,therefore,the maneuvering stability of the small wheeled robot has been significantly improved under the fractional-order PID control strategy,which provides an idea for solving the problem of the small wheeled robot in the field of automatic walking.
作者
彭琳
唐德文
陈钢
Peng Lin;Tang Dewen;Chen Gang(School of Mechanical Engineering,University of South China,Hengyang,Hunan 421001,China;Hunan Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities,Hengyang,Hunan 421001,China)
出处
《机电工程技术》
2023年第2期134-138,共5页
Mechanical & Electrical Engineering Technology
基金
衡阳市科技创新重大项目(编号:202150013986)
湖南省教育厅项目(编号:212JSJ002,2018JG026)。
关键词
分数阶PID
自动行驶
误差分析
fractional order PID
automatic driving
error analysis
