基于PID控制的智运机器人关键技术研究  

Research on Key Technologies of Intelligent Transportation Robots Based on PID Control

作　　者：张霞峰 柳畅 单业奇 邹振霖 陈显煌 黄权辉 ZHANG Xiafeng;LIU Chang;SHAN Yeqi;ZOU Zhenlin;CHEN Xianhuang;HUANG Quanhui(School of Traffice Engineering,Guangzhou Vocational College of Technology and Business,Guangzhou 511442,China)

机构地区：[1]广州科技贸易职业学院交通工程学院,广东广州511442

出　　处：《机械工程与自动化》2025年第1期176-178,共3页Mechanical Engineering & Automation

基　　金：2022年度广州科技贸易职业学院校级科研项目(2022QN02)。

摘　　要：为提高智运效率和精准性,通过需求分析,设计了基于Arduino主板的智运机器人。其旋转机构的设计将两种不同类型的相邻魔方有效分开智运;电源模块分开供电设计解决了主板易烧和电机动力不足的问题;联合使用抗干扰能力强的灰度传感器和PID控制算法动态调整驱动轮差速实现了稳定的巡线智运。试验测试表明:包括旋转板和拨杆的旋转机构功能齐全、设计巧妙,PID巡线控制算法可靠,场地上任何位置、任何类型的魔方都能智运到目标区域,验证了智运机器人的稳定性、功能性和高效性。In order to improve the efficiency and accuracy of intelligent transport,an intelligent transport robot based on Arduino motherboard is designed through demand analysis.The design of the rotating mechanism can effectively separate two different types of adjacent Rubik's cubes.The separate power supply design of the power module solves the problem of easy burning of the main board and insufficient power of the motor;The gray scale sensor with strong anti-interference ability and PID control algorithm are used to dynamically adjust the differential speed of the driving wheel to achieve stable intelligent operation.The test results show that the rotating mechanism,including the rotating plate and the lever,has complete functions and clever design,and the PID line patrol control algorithm is reliable.Any position and any type of Rubik's cube on the site can be transported to the target area,which verifies the stability,functionality and efficiency of the intelligent transport robot.

关 键 词：智运机器人 结构设计 控制系统设计 PID控制算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]