基于uC/OS-Ⅲ的巡线机器人多任务控制算法研究  

Research on the multi-task control algorithm of line patrol robot based on uC/OS-Ⅲ

作　　者：王彬[1] WANG Bin(Department of Mechanical and Electrical Engineering,Chizhou Vocational and Technical College,Chizhou 247000,China)

机构地区：[1]池州职业技术学院机电与汽车系,安徽池州247000

出　　处：《河南工程学院学报（自然科学版）》2022年第4期42-46,共5页Journal of Henan University of Engineering：Natural Science Edition

基　　金：安徽省高校科学研究重点项目(KJ2021A1421);安徽省高校质量工程教学研究项目(2020jyxm1303);池州职业技术学院质量工程慕课项目(2020czym06)。

摘　　要：巡线机器人能够代替人来做许多人类难以完成或者具有较高危险性的任务,故在工业生产中的应用越来越广泛。基于uC/OS-Ⅲ操作系统,以STM32F107型处理器为核心,采用光电检测电路采集路径信息,使用直流电机进行驱动,并分别比较PI算法、PID算法和模糊PID算法的巡线性能。结果表明,模糊PID算法能有效提升小车的稳定性,同时也保证了小车的巡线速度。3种算法按平均用时误差由大至小的排序为PI算法、PID算法、模糊PID算法。Line-following robots were more and more widely used in the industrial production process, replacing humans to do many tasks that were difficult for humans or have high risks. Taking STM32 F107 processor as the core for multi-task processing such as driving, data acquisition and speed adjustment control in the uC/OS-Ⅲ operating system. The path information was collected by the photoelectric detection circuit, and the DC motor was used for driving, and the tracking performance of the PI algorithm, the PID algorithm and the fuzzy PID algorithm were compared respectively. The results have shown that the fuzzy PID algorithm could effectively improve the stability of the car and ensure the speed of the car. In terms of the average time error, the order is PI algorithm, PID algorithm, fuzzy PID algorithm.

关 键 词：uC/OS-Ⅲ 多任务处理 PID控制 巡线算法设计 

分 类 号：TM76[电气工程—电力系统及自动化]