| 基于模糊PID的移动机器人控制系统的设计 |
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| 引用本文： | 周立丽,韩伟,张志伟,李丹丹,王秀清.基于模糊PID的移动机器人控制系统的设计[J].内蒙古民族大学学报(自然科学版),2011,26(2). |
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| 作者姓名： | 周立丽 韩伟 张志伟 李丹丹 王秀清 |
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| 作者单位： | 1. 内蒙古民族大学,物理与电子信息学院,内蒙古,通辽,028043;哈尔滨理工大学,测控技术与通信工程学院,黑龙江,哈尔滨,150040
2. 内蒙古民族大学,物理与电子信息学院,内蒙古,通辽,028043 |
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| 基金项目： | 内蒙古民族大学校级科研项目 |
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| 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.
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| 关 键 词： | 轮式移动机器人 模糊PID 运动控制 模糊推理 |
The Design of Mobile Robot Control System Based on Fuzzy PID |
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| ZHOU Li-li,HAN Wei,XHANG Zhi-wei,LI Dan-dan,WANG Xiu-qing.The Design of Mobile Robot Control System Based on Fuzzy PID[J].Journal of Inner Mongolia University for the Nationalities(Natural Sciences),2011,26(2). |
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| Authors: | ZHOU Li-li HAN Wei XHANG Zhi-wei LI Dan-dan WANG Xiu-qing |
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| Institution: | ZHOU Li-li~(1,2),HAN Wei~1,XHANG Zhi-wei~1,LI Dan-dan~1,WANG Xiu-qing~1 (1.College of Physics and Electronic information,Inner Mongolia University for Nationalities,Tongliao 028043,China,2.College of Measure-control Technology & Communication Engineering,Harbin University of Science and Technology,Harbin 150040,China) |
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| Abstract: | 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 ... |
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| Keywords: | Wheeled mobile robot Fuzzy PID Motion control Fuzzy reasoning |
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