基于变论域模糊PI四轮机器人的仿真与研究  

Simulation and Research of Four-wheels Robot Based on Variable Universe Fuzzy PI

作　　者：李世光[1] 王文文[1] 申梦茜 高正中[1] 肖佳宜 

机构地区：[1]山东科技大学电气与自动化工程学院,青岛266590

出　　处：《科学技术与工程》2016年第10期191-194,共4页Science Technology and Engineering

基　　金：博士后基金资助(2015T80729)资助

摘　　要：针对四轮全向机器人运动过程中的稳定控制问题,以ARM嵌入式微处理器STM32F405为主控制器,提出了基于变论域模糊PI的稳定控制策略,实现了在线实时调整PI控制器的参数,提高了机器人整体的控制精度和鲁棒性。分别对常规PI算法和变论域模糊PI算法的机器人底盘电机进行仿真和实验。结果表明,基于变论域模糊PI控制的四轮机器人响应速度快、抗干扰能力强,能够更好的减小超调量,提高系统的动静态特性和鲁棒性。Aimed to stabilization control of four-wheel omni-directional mobile robot,this paper,based on variable universe fuzzy PI control strategy,proposes the stable control strategy,realizing the online real-time adjusting the parameters of PI controller and improving the control accuracy and robustness of the whole robot.In the hardware system,STMR32F405 is used as a main microprocessor.Then,the two simulation curves of conventional PID algorithm and variable universe fuzzy PI algorithm of motor control system were compared with each other,and the results showed that the variable universe fuzzy PI control algorithm has can effectively improve the dynamic response ability of robot control system and anti-jamming capability,to ensure the feasibility and effectiveness of the control algorithm.

关 键 词：全向移动机器人 STM32F405 变论域 模糊PI 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]