基于改进模糊PID的轮式机器人速度控制器设计  

Design of wheeled robot speed controller based on improved fuzzy PID

作　　者：王鑫 刘怡明 王明明 孙晓云 陈勇 WANG Xin;LIU Yiming;WANG Mingming;SUN Xiaoyun;CHEN Yong(School of Electrical and Electronic Engineering,Shijiazhuang Tiedao University,Shijiazhuang,Hebei 050043,China)

机构地区：[1]石家庄铁道大学电气与电子工程学院

出　　处：《河北科技大学学报》2020年第1期50-57,共8页Journal of Hebei University of Science and Technology

基　　金：国家自然科学基金(51674169);河北省教育厅重点项目(ZD2018039);河北省研究生创新资助项目(CXZZSS2019064)

摘　　要：针对轮式机器人在行走过程中存在速度平衡超调较大与调节时间较长、速度平衡效果较差的问题,采用Matlab/Simulink与Carsim仿真软件建立轮式机器人四轮差速运动模型,对于无刷直流电机(BLDCM)系统,在原有模糊PID的基础上,结合抗积分饱和算法与变速积分算法,提出一种改进模糊PID控制的调速方法。仿真结果表明,通过抗积分饱和与变速积分算法改进后的模糊PID控制器与传统模糊PID控制器相比,在机器人速度平衡控制过程中,超调降低30%,调节时间降低33%,具有速度响应时间短、速度响应曲线波动小的优点。搭建了轮式机器人实验验证平台,实验结果表明,改进后的模糊PID控制调速方法的速度响应快,满足轮式机器人速度控制需求。所提设计可为轮式机器人速度稳定系统调试提供理论指导,并可应用于以速度调控为主导的控制系统。Aiming at the problems that the speed balance overshoot is large,the adjustment time is long,and the speed balance effect is poor during the walking process of a wheeled robot,a four-wheel differential motion model of a wheeled robot is established with Matlab/Simulink and Carsim simulation software,and for the brushless direct current motor system(BLDCM)system,based on the original fuzzy PID,combining with the anti-integration saturation algorithm and the variable speed integral algorithm,an speed regulation method based on improved fuzzy PID is proposed.The simulation results show that compared with the traditional fuzzy PID controller,the fuzzy PID controller improved by the anti-integral saturation and variable speed integration algorithm reduces the overshoot by 30%and the adjustment time by 33%.The response time is short and the speed response curve has small fluctuations.The wheeled robot experimental verification platform is built.The experimental results show that the speed regulation method based on improved fuzzy PID has fast speed response and meets the requirements of wheeled robot speed control.The proposed design may provide some theoretical reference for speed stable system debugging of wheeled detection robot,and can be used in control systems with speed control as main purpose.

关 键 词：机器人控制 轮式机器人 抗积分饱和 变速积分 模糊PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]