VEX VRC机器人竞赛设备软硬件优化的研究  

Resarch on Software and Hardware Optimization of VEX VRC Robot Competition Equipment

作　　者：苏际恺 郑敏晔 刘涵月 SU Jikai;ZHENG Minye;LIU Hanyue(Affiliated High School of Fujian Normal University,Fuzhou,Fujian 350007,China)

机构地区：[1]福建师范大学附属中学,福建福州350007

出　　处：《自动化应用》2024年第3期47-50,共4页Automation Application

摘　　要：为进一步提高参加VEX VRC机器人竞赛设备的质量,首先,从硬件结构的选择及优化角度,深入研究了机器人底盘设计、得分机制以及飞盘发射结构的关键因素,考虑了底盘高度、轮胎选择、得分结构的动力和驱动方式、飞轮和弹弓结构的优缺点等;其次,详细描述了基于PID程序框架的调整优化方法,包括PID控制的基本原理、优化策略、多角度PID控制的应对策略以及响应速度与精度的权衡;最后,还针对设备剧烈震动和转弯策略进行了具体的应用调整,以确保机器人的高效稳定运行。To further improve the quality of equipment for participating in VEX VRC robot competitions,firstly,from the perspective of hardware structure selection and optimization,the key factors of robot chassis design,scoring mechanism,and frisbee launch structure were thoroughly studied,taking into account chassis height,tire selection,power and driving mode of scoring structure,advantages and disadvantages of flywheel and slingshot structure,etc.Secondly,a detailed description was given of the adjustment and optimization method based on the PID program framework,including the basic principles of PID control,optimization strategies,response strategies for multi-angle PID control,and the trade-off between response speed and accuracy.Finally,specific application adjustments were made to the equipment′s severe vibration and turning strategy to ensure the efficient and stable operation of the robot.

关 键 词：VEX VRC机器人竞赛 PID控制 底盘设计 

分 类 号：TU991.33[建筑科学—市政工程]