基于模糊抗饱和性PID的板球系统设计  

Design of cricket system based on fuzzy anti-saturation PID

作　　者：习晨悦 袁卫[1] Xi Chenyue;Yuan Wei(School of Physics and Electrical Engineering,Weinan Normal University,Weinan 714099,China)

机构地区：[1]渭南师范学院物理与电气工程学院,渭南714099

出　　处：《电子测量技术》2020年第18期52-58,共7页Electronic Measurement Technology

基　　金：陕西省科技厅工业攻关项目(2016GY-117);国家级大学生创新创业计划项目(201910723009)资助。

摘　　要：针对板球系统的多变量、非线性、强耦合性,且属于欠驱动系统等特点,以及在实际应用方面有很大的研究价值,对板球系统进行了相关研究。在忽略摩擦力等微观因素的情况下,对系统进行数学建模,改进经典PID算法中存在比例、积分、微分的饱和现象对系统稳定性有干扰,使小球无法在板上稳定精确的运动的缺点,提出了一种建立在专家经验法上的模糊控制与抗饱和PID相结合的模糊PID算法以更好地控制小球。该算法在以OpenMV、STM32和舵机JX6621MG为硬件平台的系统上进行了验证,其稳态性和动态性均优于经典PID算法,实现了小球稳定运动的功能。Aiming at the characteristics of multi-variable, non-linear, strong coupling of cricket system, belonging to under-driven system, etc. It has great research value in practical application. The cricket system is researched. Ignore friction and other factors on the micro system for simple mathematical modeling. Because the integral saturation phenomenon existing in the classic PID algorithm interferes with the stability of the system, for a moving ball that cannot stably control its precise movement on the board, a anti-integral and fuzzy control based on expert experience method is proposed saturated PID control combined with fuzzy PID algorithm to better control the ball movement on the board. The algorithm is verified on a system using OpenMV, STM32, and servo JX6621 MG as the hardware platform. Its stability and dynamics are better than the classic PID algorithm. It is realized stable motion function.

关 键 词：板球 模糊PID 稳态性 动态性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]