风帆雪橇极地漫游机器人系统平台搭建与直线速度控制算法研究  

System Design and Speed Control Algorithm of Antarctic Roaming Robot of Windsurfing & Sled

作　　者：张臣[1] 卜春光[2] 于洋[1] 

机构地区：[1]沈阳理工大学信息科学与工程学院,辽宁沈阳110159 [2]中国科学院沈阳自动化研究所,辽宁沈阳110016

出　　处：《沈阳理工大学学报》2015年第5期33-39,共7页Journal of Shenyang Ligong University

基　　金：国家863资助项目(2011AA040202)

摘　　要：风帆雪橇极地漫游机器人利用南极风力和太阳能获得动力和能源,具有长时间工作和长距离移动的能力,可用于南极大范围无人化科学考察。在前期风帆雪橇极地漫游机器人本体研究基础上,介绍了风帆雪橇极地漫游机器人软、硬件系统平台设计,详细研究了基于自适应模糊PID方法的直线速度控制算法,并进行了Simulink环境下的对比仿真实验,验证了基于自适应模糊PID方法的机器人直线行进速度控制算法的有效性。Antarctic roaming robot of windsurfing ＆ sled uses Antarctic wind as driving force and converts solar power to electrical energy with solar panels. It is able to work long hours for a long distance move, which can be used for unmanned scientific investigation in a wide range of Antarctic area. Based on previous research of robot＇s mechanical structure, the structure of robot＇s hardware and software system and the result of adaptive fuzzy PID algo- rithm are discussed when it is applied to control the straight-line moving speed of robot. Then a contrast test is carried out in Simulink environment in correspond to adaptive fuzzy PID algorithm. Simulation results show that the adaptive fuzzy PID controller demonstrates the feasibility in practical application.

关 键 词：风帆雪橇极地漫游机器人 自适应模糊PID SIMULINK仿真 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]