移动机器人运动过程的模糊自整定PID控制及实现  

Fuzzy Self-tuning PID Control and Implementation of Mobile Robot Movement

作　　者：蔡蒂 丁晓飞 曲德宇 张铁[2] Cai Di;Ding Xiaofei;Qu Deyu;Zhang Tie(Guangzhou Power Supply Bureau Co.,Ltd.,Guangzhou 510620,China;School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China)

机构地区：[1]广州供电局有限公司,广州510620 [2]华南理工大学机械与汽车工程学院,广州510640

出　　处：《机电工程技术》2020年第11期48-52,共5页Mechanical & Electrical Engineering Technology

基　　金：广州供电局有限公司科技项目(编号:GZHKJXM20170068)。

摘　　要：移动机器人的运动控制涉及到控制功能、算法及其在硬件和软件上的实现。移动机器人的环境一直处于变化之中,其控制主要集中在左、右驱动轮的独立控制,提高控制精度、响应速度以及运动过程的轨迹精度是控制的难点。提出将模糊自整定PID控制应用于复杂的移动机器人的运动轨迹控制,在建立模糊控制规则的基础上,根据速度偏差的不同,调整控制要求。进一步建立模糊变量的隶属度表,根据隶属函数曲线斜率的不同选择不同分辨率的模糊集。建立了模糊控制表,根据接收的控制量查表得出控制结论。通过在移动机器人平台上使用三角形路径跟踪的方式,对比纯PID控制,模糊自整定PID控制有效提高了轨迹跟踪精度。The motion control of mobile robot involves control function,algorithm and its realization in hardware and software.The environment of mobile robot is always changing,and its control mainly focuses on the independent control of left and right driving wheels.It is difficult to improve the control accuracy,response speed and trajectory accuracy of the motion process.The fuzzy self-tuning PID control was applied to the trajectory control of complex mobile robot.Based on the establishment of fuzzy control rules,the control requirements were adjusted according to the different speed deviation.The membership table of fuzzy variables was established,and fuzzy sets with different resolutions were selected according to the slope of membership function curve.The fuzzy control table was established,and the control conclusion was obtained according to the received control table.Compared with the pure PID control,the fuzzy self-tuning PID control can effectively improve the trajectory tracking accuracy by using the triangle path tracking method on the mobile robot platform.

关 键 词：移动机器人 PID控制 模糊自整定PID 模糊控制规则 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]