| 足球机器人运动控制算法研究 |
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| 引用本文： | 余群明,王会方,张骏,周兵,朱德康.足球机器人运动控制算法研究[J].湖南大学学报(自然科学版),2006,33(6):42-45. |
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| 作者姓名： | 余群明 王会方 张骏 周兵 朱德康 |
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| 作者单位： | 湖南大学,机械与汽车工程学院,湖南,长沙,410082 |
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| 基金项目： | 国家留学基金资助项目(2004-52)，湖南省青年骨干教师培养计划 |
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| 摘 要： | 在建立基于小转角的足球机器人运动学模型的基础上,提出了单神经元自适应PID控制算法和基于Kalman滤波的PID控制算法.通过仿真分析,系统在单神经元自适应PID控制下,超调量、上升时间和峰值时间分别是常规PID控制下的30.7%,54.3%和72.7%,完全满足足球机器人现场比赛竞技性的要求;基于Kalman滤波的PID控制能够抑制干扰,提高控制精度,控制效果明显改善.
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| 关 键 词： | 足球机器人 运动控制 单神经元自适应PID算法 Kalman滤波 |
| 文章编号： | 1000-2472（2006）06-0042-04 |
| 收稿时间： | 05 9 2006 12:00AM |
| 修稿时间： | 2006-05-09 |
The Algorithm of Motion Control for Soccer Robot |
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| YU Qun-ming,WANG Hui-fang,ZHANG Jun,ZHOU Bing,ZHU De-kang.The Algorithm of Motion Control for Soccer Robot[J].Journal of Hunan University(Naturnal Science),2006,33(6):42-45. |
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| Authors: | YU Qun-ming WANG Hui-fang ZHANG Jun ZHOU Bing ZHU De-kang |
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| Institution: | College of Mechanical and Automotive Engineering, Hunan Univ,Changsha,Hunan 410082,China |
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| Abstract: | The motion model of soccer robot based on little angle was constructed.The mono-neural self-adaptive PID control algorithm and PID control algorithm based on Kalman filter were proposed.The simulation results indicated that the overshooting number,risetime and peak value of the system controlled by mono-neural self-adaptive PID were respectively 30.7%,54.3% and 72.7% of those by routine PID control,which totally satisfied the requirements for soccer robot athletic competitions;PID control algorithm based on Kalman filter could preferably restrain the disturbance,enhance the control precision,and improve the control result. |
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| Keywords: | soccer robot motion control mono-neural self-adaptive PID control algorithm Kalman filter |
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