模糊理论和PID相融合的两轮自平衡机器人智能控制系统  

Two-wheeled self-balancing robot′s intelligent control system combining fuzzy theory and PID

作　　者：夏国清 陈华珍 XIA Guoqing;CHEN Huazhen(South China Institute of Software Engineering,Guangzhou University,Guangzhou 510990,China)

机构地区：[1]广州大学华软软件学院,广东广州510990

出　　处：《现代电子技术》2018年第21期117-120,共4页Modern Electronics Technique

基　　金：2015年广东省教育厅重点平台及科研项目(青年创新人才类项目(自然科学)):两轮自平衡服务机器人智能控制系统研究(2015KQNCX240)~~

摘　　要：针对两轮自平衡机器人控制系统的开发和研制普遍存在不足,易导致控制系统故障等问题,对两轮自平衡机器人进行研究并建立基于模糊理论与PID控制相融合的两轮自平衡机器人智能控制系统模型,将所得模型根据PID控制和模糊理论算法进行仿真实验,并对实验数据进行测量和分析。仿真结果表明,模糊理论和PID相融合的控制器有利于促进两轮自平衡机器人控制系统的稳定,实现对输入信号的跟踪。The research and development of the two-wheeled self-balancing robot′s control system have the defects,which easily leads to the failure of the control system.Therefore,the two-wheeled self-balancing robot is researched,and its intelligent control system model combining fuzzy theory and PID control is established.The simulation experiment is carried out for the model combining PID control and fuzzy theory algorithm.The experimental data is measured and analyzed.The simulation results show that the controller combining fuzzy theory and PID is helpful to promote the stability of control system of two-wheeled self-balancing robot,and realize the tracking of input signals.

关 键 词：自适应PID 模糊控制器 VB语言 模糊理论 信号跟踪 两轮自平衡机器人 

分 类 号：TN876-34[电子电信—信息与通信工程] TH112[机械工程—机械设计及理论]