模糊PID消防机器人无刷直流电机驱动系统设计  

Design of Brushless DC Motor Drive System for Fuzzy PID Fire Robot

作　　者：赵伟 赵晓侠[1] ZHAO Wei;ZHAO Xiao-xia(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650500

出　　处：《软件导刊》2019年第1期22-27,共6页Software Guide

基　　金：安徽省科技强警项目(1401b042010)

摘　　要：传统消防机器人主要运用有刷直流电机和经典PID控制。提出一种将无刷直流电机和模糊PID控制算法相结合的电机驱动系统,为消防机器人提供低速大转矩驱动。通过建立无刷直流电机控制系统模型和模糊PID控制设计,在MATLAB/Simulink仿真环境下建立系统仿真模型。在仿真环境中将传统PID控制器和模糊PID控制器各项指标作对比,结果表明使用无刷直流电机并运用模糊PID控制器组成的消防机器人,具有良好的静动态性能、抗干扰能力及转速/转矩特性。为验证试验的可靠性,建立消防机器人实物模型,对机器人进行整体测试,表明模糊PID消防机器人爬坡、越障、爬楼梯能力强,具有实用价值。Traditional fire fighting robots mainly use brushed DC motors and classical PID control.Now a brushless DC motor and fuzzy PID control algorithm are combined to form a motor drive system,which provides low-speed and high-torque drive for fire fighting robots.Through the establishment of a brushless DC motor control system model and the design of fuzzy PID control,a system simulation model is established under the MATLAB/Simulink simulation environment.In the simulation environment,the traditional PID controller and fuzzy PID controller are compared.The simulation results show that the fire robot composed of brushless DC motor and fuzzy PID controller has good static and dynamic performance and anti-jamming capability as well as good speed/torque characteristics.In order to verify the reliability of the test,a physical model of the fire-fighting robot is established.Through the overall testing of the robot,it is shown that the fuzzy PID fire-fighting robot has strong ability of climbing,obstacle crossing and stair climbing,and has practical value.

关 键 词：消防机器人 低速大转矩 模糊控制 PID控制器 无刷直流电机 

分 类 号：TP303[自动化与计算机技术—计算机系统结构]